Robot Simulator of the Robotics Group for Self-Organization of Control  0.8.0
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MotorNoiseWiring Class Reference

Implements a one to one wiring that adds noise to the motor signals (the sensors will get no noise) More...

#include <motornoisewiring.h>

Inheritance diagram for MotorNoiseWiring:
Collaboration diagram for MotorNoiseWiring:

Public Member Functions

 MotorNoiseWiring (NoiseGenerator *noise, double noiseStrength)
 constructor More...
 
virtual ~MotorNoiseWiring ()
 
double getNoiseStrength ()
 
void setNoiseStrength (double _motNoiseStrength)
 
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 wireMotorsIntern (motor *rmotors, int rmotornumber, const motor *cmotors, int cmotornumber)
 Realizes one to one wiring from controller motor outputs to robot motors. More...
 
- Public Member Functions inherited from One2OneWiring
 One2OneWiring (NoiseGenerator *noise, int plotMode=Controller, int blind=0, const std::string &name="One2OneWiring")
 constructor More...
 
virtual ~One2OneWiring ()
 destructor 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...
 
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 infoLinesListgetInfoLines () 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 inspectableListgetInspectables () 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< paramkeygetAllParamNames (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 configurableListgetConfigurables () 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 Attributes

NoiseGeneratormotNoiseGen
 
double motNoiseStrength
 
matrix::Matrix mMotNoise
 
- Protected Attributes inherited from One2OneWiring
int blind
 
motorblindmotors
 number of blind channels 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...
 
sensornoisevals
 
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...
 
NoiseGeneratornoiseGenerator
 noise generator More...
 
RandGenrandGen
 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< iparamkeyiparamkeylist
 
typedef std::list< std::string > infoLinesList
 
typedef std::list< iparamvaliparamvallist
 
typedef std::list< iparamval
const * > 
iparamvalptrlist
 
typedef std::list< iparampairiparampairlist
 
typedef std::list< imatrixpairimatrixpairlist
 
typedef struct Inspectable::ILayer ILayer
 
typedef struct
Inspectable::IConnection 
IConnection
 
typedef std::list< ILayerilayerlist
 
typedef std::list< IConnectioniconnectionlist
 
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...
 
- Protected Member Functions inherited from One2OneWiring
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...
 
- 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
 

Detailed Description

Implements a one to one wiring that adds noise to the motor signals (the sensors will get no noise)

Constructor & Destructor Documentation

MotorNoiseWiring ( NoiseGenerator noise,
double  noiseStrength 
)
inline

constructor

Parameters
noiseNoiseGenerator that is used for adding noise to motor values
virtual ~MotorNoiseWiring ( )
inlinevirtual

Member Function Documentation

double getNoiseStrength ( )
inline
virtual bool initIntern ( )
inlinevirtual

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

initializes the number of sensors and motors from robot, calculate

Reimplemented from One2OneWiring.

void setNoiseStrength ( double  _motNoiseStrength)
inline
virtual bool wireMotorsIntern ( motor rmotors,
int  rmotornumber,
const motor cmotors,
int  cmotornumber 
)
inlinevirtual

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

Parameters
rmotorspointer to array of motorvalues for robot
rmotornumbernumber of robot motors
cmotorspointer to array of motorvalues from controller
cmotornumbernumber of motorvalues from controller

Reimplemented from One2OneWiring.

Member Data Documentation

matrix::Matrix mMotNoise
protected
NoiseGenerator* motNoiseGen
protected
double motNoiseStrength
protected

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