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

This controller implements the predictive information maximization described in paper: to be published in PLoS ONE 2013 ArXiv preprint: http://arxiv.org/abs/1301.7473. More...

#include <pimax.h>

Inheritance diagram for PiMax:
Collaboration diagram for PiMax:

Public Member Functions

 PiMax (const PiMaxConf &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 ~PiMax ()
 
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...
 
virtual void motorBabblingStep (const sensor *, int number_sensors, const motor *, int number_motors)
 called during babbling phase 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 matrix::Matrix getA ()
 
virtual void setA (const matrix::Matrix &A)
 
virtual matrix::Matrix getC ()
 
virtual void setC (const matrix::Matrix &C)
 
virtual matrix::Matrix geth ()
 
virtual void seth (const matrix::Matrix &h)
 
virtual void setMotorTeaching (const matrix::Matrix &teaching)
 The given motor teaching signal is used for this timestep. More...
 
virtual void setSensorTeaching (const matrix::Matrix &teaching)
 The given sensor teaching signal (distal learning) is used for this timestep. More...
 
virtual matrix::Matrix getLastMotorValues ()
 returns the last motor values (useful for cross motor coupling) More...
 
virtual matrix::Matrix getLastSensorValues ()
 returns the last sensor values (useful for cross sensor coupling) More...
 
virtual std::list< matrix::MatrixgetParameters () const override
 Returns a list of matrices that parametrize the controller. More...
 
virtual int setParameters (const std::list< matrix::Matrix > &params) override
 sets the parameters. 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 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< 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...
 
- 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 Storeable
virtual ~Storeable ()
 
bool storeToFile (const char *filename) const
 Provided for convenience. More...
 
bool restoreFromFile (const char *filename)
 Provided for convenience. More...
 
- Public Member Functions inherited from Teachable
virtual ~Teachable ()
 
- Public Member Functions inherited from Parametrizable
virtual ~Parametrizable ()
 

Static Public Member Functions

static PiMaxConf getDefaultConf ()
 

Protected Member Functions

virtual void learn ()
 learn values model and controller (A,b,C,h) 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
 

Static Protected Member Functions

static double g (double z)
 neuron transfer function More...
 
static double g_s (double z)
 derivative of g More...
 
static double clip (double r, double x)
 function that clips the second argument to the interval [-first,first] More...
 
static double one_over (double x)
 calculates the inverse the argument (useful for Matrix::map) More...
 

Protected Attributes

unsigned short number_sensors
 
unsigned short number_motors
 
matrix::Matrix A
 
matrix::Matrix C
 
matrix::Matrix S
 
matrix::Matrix h
 
matrix::Matrix b
 
matrix::Matrix L
 
matrix::Matrix Sigma
 
matrix::Matrix ds0
 
matrix::Matrix C_native
 
matrix::Matrix A_native
 
matrix::Matrix a_buffer [buffersize]
 
matrix::Matrix s_buffer [buffersize]
 
matrix::Matrix xi_buffer [buffersize]
 
matrix::Matrix gs_buffer [buffersize]
 
matrix::Matrix L_buffer [buffersize]
 
matrix::Matrix s
 
matrix::Matrix s_smooth
 
PiMaxConf conf
 configuration objects More...
 
int t
 
bool intern_isTeaching
 
matrix::Matrix a_teaching
 
bool useMetric
 
paramval causeaware
 
paramval sense
 
paramval epsC
 
paramval epsA
 
paramval epsSigma
 
paramval factorH
 
paramval damping
 
paramval gamma
 
paramint tau
 
- Protected Attributes inherited from AbstractController
std::map< std::string, int > sensorIndexMap
 
std::map< std::string, int > motorIndexMap
 
std::map< int, SensorMotorInfosensorInfoMap
 
std::map< int, SensorMotorInfomotorInfoMap
 
- Protected Attributes inherited from Inspectable
iparamkey name
 
iparampairlist mapOfValues
 
imatrixpairlist mapOfMatrices
 
infoLinesList infoLineStringList
 

Static Protected Attributes

static const unsigned short buffersize = 20
 

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< 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
 
- 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

This controller implements the predictive information maximization described in paper: to be published in PLoS ONE 2013 ArXiv preprint: http://arxiv.org/abs/1301.7473.

Note: the notation is for the model matrices is different than in the paper: A -> V S -> T The code contains more functionality than is described in the paper e.g. the teaching and motor babbling is not used.

Constructor & Destructor Documentation

PiMax ( const PiMaxConf conf = getDefaultConf())
~PiMax ( )
virtual

Member Function Documentation

static double clip ( double  r,
double  x 
)
inlinestaticprotected

function that clips the second argument to the interval [-first,first]

static double g ( double  z)
inlinestaticprotected

neuron transfer function

static double g_s ( double  z)
inlinestaticprotected

derivative of g

matrix::Matrix getA ( )
virtual
matrix::Matrix getC ( )
virtual
static PiMaxConf getDefaultConf ( )
inlinestatic
matrix::Matrix geth ( )
virtual
matrix::Matrix getLastMotorValues ( )
virtual

returns the last motor values (useful for cross motor coupling)

Implements Teachable.

matrix::Matrix getLastSensorValues ( )
virtual

returns the last sensor values (useful for cross sensor coupling)

Implements Teachable.

virtual int getMotorNumber ( ) const
inlinevirtual

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

Implements AbstractController.

list< Matrix > getParameters ( ) const
overridevirtual

Returns a list of matrices that parametrize the controller.

Implements Parametrizable.

virtual int getSensorNumber ( ) const
inlinevirtual

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

Implements AbstractController.

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 learn ( )
protectedvirtual

learn values model and controller (A,b,C,h)

calc all delta s_{t-l};

void motorBabblingStep ( const sensor s_,
int  number_sensors,
const motor a_,
int  number_motors 
)
virtual

called during babbling phase

Reimplemented from AbstractController.

static double one_over ( double  x)
inlinestaticprotected

calculates the inverse the argument (useful for Matrix::map)

bool restore ( FILE *  f)
virtual

loads the controller values from a given file.

Implements Storeable.

void setA ( const matrix::Matrix A)
virtual
void setC ( const matrix::Matrix C)
virtual
void seth ( const matrix::Matrix h)
virtual
void setMotorTeaching ( const matrix::Matrix teaching)
virtual

The given motor teaching signal is used for this timestep.

It is used as a feed forward teaching signal for the controller. Please note, that the teaching signal has to be given each timestep for a continuous teaching process.

Parameters
teachingmatrix with dimensions (motornumber,1)

Implements Teachable.

int setParameters ( const std::list< matrix::Matrix > &  params)
overridevirtual

sets the parameters.

The list must have the same length as returned by getParameters() The matrix dimensions must fit those given by getParameters()

Returns
0 for failure, 1 for success and 2 if parameters had been changed during setting (to be valid) such that a get is required to get the actual values

Implements Parametrizable.

void setSensorTeaching ( const matrix::Matrix teaching)
virtual

The given sensor teaching signal (distal learning) is used for this timestep.

The belonging motor teachung signal is calculated by the inverse model. See setMotorTeaching

Parameters
teachingmatrix with dimensions (motorsensors,1)

Implements Teachable.

void step ( const sensor s_,
int  number_sensors,
motor a_,
int  number_motors 
)
virtual

performs one step (includes learning).

Calulates motor commands from sensor inputs.

Implements AbstractController.

void stepNoLearning ( const sensor s_,
int  number_sensors,
motor a_,
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.

Member Data Documentation

matrix::Matrix A
protected
matrix::Matrix a_buffer[buffersize]
protected
matrix::Matrix A_native
protected
matrix::Matrix a_teaching
protected
matrix::Matrix b
protected
const unsigned short buffersize = 20
staticprotected
matrix::Matrix C
protected
matrix::Matrix C_native
protected
paramval causeaware
protected
PiMaxConf conf
protected

configuration objects

paramval damping
protected
matrix::Matrix ds0
protected
paramval epsA
protected
paramval epsC
protected
paramval epsSigma
protected
paramval factorH
protected
paramval gamma
protected
matrix::Matrix gs_buffer[buffersize]
protected
matrix::Matrix h
protected
bool intern_isTeaching
protected
matrix::Matrix L
protected
matrix::Matrix L_buffer[buffersize]
protected
unsigned short number_motors
protected
unsigned short number_sensors
protected
matrix::Matrix S
protected
matrix::Matrix s
protected
matrix::Matrix s_buffer[buffersize]
protected
matrix::Matrix s_smooth
protected
paramval sense
protected
matrix::Matrix Sigma
protected
int t
protected
paramint tau
protected
bool useMetric
protected
matrix::Matrix xi_buffer[buffersize]
protected

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