class for robot controller using several feedforward networks (satelite) and one selforg controller More...

#include <multireinforce.h>

Inheritance diagram for MultiReinforce:

Collaboration diagram for MultiReinforce:

Public Member Functions
	MultiReinforce (const MultiReinforceConf &conf=getDefaultConf())

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

virtual	~MultiReinforce ()

virtual int	getSensorNumber () const
	returns the number of sensors the controller was initialised with or 0 if not initialised More...

virtual int	getMotorNumber () const
	returns the mumber of motors the controller was initialised with or 0 if not initialised More...

virtual void	step (const sensor , int number_sensors, motor , int number_motors)
	performs one step (includes learning). More...

virtual void	stepNoLearning (const sensor , int number_sensors, motor , int number_motors)
	performs one step without learning. Calulates motor commands from sensor inputs. More...

void	restoreSats (const std::list< std::string > &files)
	restores the sat networks from seperate files More...

void	storeSats (const std::list< std::string > &files)
	stores the sats into the given files More...

void	setManualControl (bool mControl, int action_=0)
	enables/disables manual control, action_ is the sat network number to be used if mControl is false, action is ignored More...

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

virtual bool	store (FILE *f) const
	stores the controller values to a given file. More...

virtual bool	restore (FILE *f)
	loads the controller values from a given file. More...

virtual std::list< iparamkey >	getInternalParamNames () const
	The list of the names of all internal parameters given by getInternalParams(). More...

virtual std::list< iparamval >	getInternalParams () const

virtual std::list< ILayer >	getStructuralLayers () const
	Specifies which parameter vector forms a structural layer (in terms of a neural network) The ordering is important. More...

virtual std::list< IConnection >	getStructuralConnections () const
	Specifies which parameter matrix forms a connection between layers (in terms of a neural network) The orderning is not important. More...

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

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	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 iparamvalptrlist	getInternalParamsPtr () const
	be careful: matrices will be ignored 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 ()

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

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

Static Public Member Functions
static std::list< std::string >	createFileList (const char *filestem, int n)
	restores the sat networks from seperate files More...

static MultiReinforceConf	getDefaultConf ()

Protected Member Functions
virtual int	getStateNumber ()=0
	returns number of state, to be overwritten More...

virtual int	calcState ()=0
	returns state, to be overwritten More...

virtual double	calcReinforcement ()=0
	returns the reinforcement (reward), to be overwritten More...

void	putInBuffer (matrix::Matrix *buffer, const matrix::Matrix &vec, int delay=0)

virtual void	fillSensorBuffer (const sensor *x_, int number_sensors)
	puts the sensors in the ringbuffer More...

virtual void	fillMotorBuffer (const motor *y_, int number_motors)
	puts the motors in the ringbuffer More...

virtual void	management ()
	handles inhibition damping etc. More...

matrix::Matrix	calcDerivatives (const matrix::Matrix *buffer, int delay)
	Calculates first and second derivative and returns both in on matrix (above). 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
unsigned short	number_sensors

unsigned short	number_motors

unsigned short	buffersize

matrix::Matrix *	x_buffer

matrix::Matrix *	xp_buffer

matrix::Matrix *	y_buffer

matrix::Matrix *	x_context_buffer

std::vector< Sat >	sats
	satelite networks More...

bool	manualControl
	True if actions (sats) are selected manually. More...

matrix::Matrix	nomSatOutput
	norminal output of satelite networks (x_t,y_t)^T More...

matrix::Matrix	satInput
	input to satelite networks (x_{t-1}, xp_{t-1}, y_{t-1})^T More...

int	action
	index of controlling network More...

int	newaction
	index of new controlling network More...

int	oldaction
	index of old controlling network More...

int	state
	current state More...

double	reward
	current reward More...

double	oldreward
	old reward (nicer for plotting) More...

int	phase
	current phase of the controller: 0: action just selected 1:state changed first time 2:state changed second time More...

int	phasecnt
	counts number of steps in one phase. More...

matrix::Matrix	satErrors
	actual errors of the sats More...

matrix::Matrix	satAvgErrors
	averaged errors of the sats More...

matrix::Matrix	statesbins
	bins with counts for each state More...

MultiReinforceConf	conf

bool	initialised

int	t

int	managementInterval
	interval between subsequent management calls More...

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

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...

Detailed Description

class for robot controller using several feedforward networks (satelite) and one selforg controller

Constructor & Destructor Documentation

MultiReinforce ( const MultiReinforceConf & conf = getDefaultConf() )

~MultiReinforce ( )

virtual

Member Function Documentation

Matrix calcDerivatives	(	const matrix::Matrix *	buffer,
		int	delay
	)

protected

Calculates first and second derivative and returns both in on matrix (above).

We use simple discrete approximations:

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

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

where we have to go into the past because we do not have f(x+1). The scaling can be neglegted.

virtual double calcReinforcement ( )

protectedpure virtual

returns the reinforcement (reward), to be overwritten

virtual int calcState ( )

protectedpure virtual

returns state, to be overwritten

list< string > createFileList	(	const char *	filestem,
		int	n
	)

static

restores the sat networks from seperate files

void fillMotorBuffer	(	const motor *	y_,
		int	number_motors
	)

protectedvirtual

puts the motors in the ringbuffer

void fillSensorBuffer	(	const sensor *	x_,
		int	number_sensors
	)

protectedvirtual

puts the sensors in the ringbuffer

static MultiReinforceConf getDefaultConf ( )

inlinestatic

list< Inspectable::iparamkey > getInternalParamNames ( ) const

virtual

The list of the names of all internal parameters given by getInternalParams().

The naming convention is "v[i]" for vectors and "A[i][j]" for matrices, where i, j start at 0.

Returns: : list of keys

Reimplemented from Inspectable.

list< Inspectable::iparamval > getInternalParams ( ) const

virtual

Returns: : list of values

Reimplemented from Inspectable.

virtual int getMotorNumber ( ) const

inlinevirtual

returns the mumber of motors the controller was initialised with or 0 if not initialised

Implements AbstractController.

virtual int getSensorNumber ( ) const

inlinevirtual

returns the number of sensors the controller was initialised with or 0 if not initialised

Implements AbstractController.

virtual int getStateNumber ( )

protectedpure virtual

returns number of state, to be overwritten

list< Inspectable::IConnection > getStructuralConnections ( ) const

virtual

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

Returns: : list of layer names with dimension

Reimplemented from Inspectable.

list< Inspectable::ILayer > getStructuralLayers ( ) const

virtual

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

The first entry is the input layer and so on.

Returns: : list of layer names with dimension

Reimplemented from Inspectable.

void init	(	int	sensornumber,
		int	motornumber,
		RandGen *	randGen = `0`
	)

virtual

initialisation of the controller with the given sensor/ motornumber Must be called before use.

The random generator is optional.

Implements AbstractController.

void management ( )

protectedvirtual

handles inhibition damping etc.

void notifyOnChange ( const paramkey & key )

virtual

Is called when a parameter was changes via setParam().

Note that it is not called of parameters of childs are changed, then there notifyOnChange() method is called. The key and of the changed parameter (use getParam() to retrieve its actual value). Overload this function when special actions have to be taken on parameter changes.

Reimplemented from Configurable.

void putInBuffer	(	matrix::Matrix *	buffer,
		const matrix::Matrix &	vec,
		int	delay = `0`
	)

protected

bool restore ( FILE * f )

virtual

loads the controller values from a given file.

Implements Storeable.

void restoreSats ( const std::list< std::string > & files )

restores the sat networks from seperate files

void setManualControl	(	bool	mControl,
		int	action_ = `0`
	)

enables/disables manual control, action_ is the sat network number to be used if mControl is false, action is ignored

void step	(	const sensor *	x_,
		int	number_sensors,
		motor *	y_,
		int	number_motors
	)

virtual

performs one step (includes learning).

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

Calulates motor commands from sensor inputs.

sat network control

Implements AbstractController.

void stepNoLearning	(	const sensor *	x,
		int	number_sensors,
		motor *	y,
		int	number_motors
	)

virtual

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

Implements AbstractController.

bool store ( FILE * f ) const

virtual

stores the controller values to a given file.

Implements Storeable.

void storeSats ( const std::list< std::string > & files )

stores the sats into the given files

Member Data Documentation

int action

protected

index of controlling network

unsigned short buffersize

protected

MultiReinforceConf conf

protected

bool initialised

protected

int managementInterval

protected

interval between subsequent management calls

bool manualControl

protected

True if actions (sats) are selected manually.

int newaction

protected

index of new controlling network

matrix::Matrix nomSatOutput

protected

norminal output of satelite networks (x_t,y_t)^T

unsigned short number_motors

protected

unsigned short number_sensors

protected

int oldaction

protected

index of old controlling network

double oldreward

protected

old reward (nicer for plotting)

int phase

protected

current phase of the controller: 0: action just selected 1:state changed first time 2:state changed second time

int phasecnt

protected

counts number of steps in one phase.

double reward

protected

current reward

matrix::Matrix satAvgErrors

protected

averaged errors of the sats

matrix::Matrix satErrors

protected

actual errors of the sats

matrix::Matrix satInput

protected

input to satelite networks (x_{t-1}, xp_{t-1}, y_{t-1})^T

std::vector<Sat> sats

protected

satelite networks

int state

protected

current state

matrix::Matrix statesbins

protected

bins with counts for each state

int t

protected

matrix::Matrix* x_buffer

protected

matrix::Matrix* x_context_buffer

protected

matrix::Matrix* xp_buffer

protected

matrix::Matrix* y_buffer

protected

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation