This controller follows the prinziple of homeokinesis and implements the extensions described in the thesis of Georg Martius 2009, University Goettingen: Goal-Oriented Control of Self-organizing Behavior in Autonomous Robots. More...

#include <semox.h>

Inheritance diagram for SeMoX:

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Collaboration diagram for SeMoX:

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Public Member Functions
	SeMoX (const SeMoXConf &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	~SeMoX ()

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 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< 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...

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::Matrix >	getParameters () 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 HomeokinBase
	HomeokinBase (unsigned short buffersize, 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	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 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...

Public Member Functions inherited from Teachable
virtual	~Teachable ()

Public Member Functions inherited from Parametrizable
virtual	~Parametrizable ()

Static Public Member Functions
static SeMoXConf	getDefaultConf ()
	returns the default configuration More...

Protected Member Functions
virtual void	fillBuffersAndControl (const sensor x_, int number_sensors, motor y_, int number_motors)
	puts the sensors in the ringbuffer, generate controller values and put them in the More...

virtual void	calcXsi (int delay)
	calculates xsi for the current time step using the delayed y values More...

virtual void	learnController ()
	learn H,C with motors y and corresponding sensors x More...

virtual void	learnModel (int delay)
	learn A, (and S) using motors y and corresponding sensors x More...

virtual matrix::Matrix	model (const matrix::Matrix *x_buffer, int delay, const matrix::Matrix &y)
	calculates the predicted sensor values More...

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

virtual matrix::Matrix	calculateControllerValues (const matrix::Matrix &x_smooth)
	returns controller output for given sensor values More...

Protected Member Functions inherited from HomeokinBase
void	putInBuffer (matrix::Matrix *buffer, const matrix::Matrix &vec, int delay=0)
	put new value in ring buffer More...

virtual matrix::Matrix	calculateDelayedValues (const matrix::Matrix *buffer, int number_steps_of_delay_)
	calculate delayed values More...

virtual matrix::Matrix	calculateSmoothValues (const matrix::Matrix *buffer, int number_steps_for_averaging_)
	calculate time-smoothed values More...

virtual double	calcErrorFactor (const matrix::Matrix &e, bool loga, bool root)
	calculates the error_factor for either logarithmic (E=ln(e^Te)) or square (E=sqrt(e^te)) error 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	regularizedInverse (double v)

Static Protected Member Functions inherited from HomeokinBase
static double	g (double z)
	neuron transfer function More...

Protected Attributes
unsigned short	number_sensors

unsigned short	number_motors

matrix::Matrix	A
	Model Matrix (motors to sensors) More...

matrix::Matrix	S
	additional Model Matrix (sensors derivatives to sensors) More...

matrix::Matrix	C
	Controller Matrix. More...

matrix::Matrix	H
	Controller Bias. More...

matrix::Matrix	B
	Model Bias. More...

matrix::Matrix	R
	C*A. More...

matrix::Matrix	SmallID
	small identity matrix in the dimension of R More...

matrix::Matrix	v
	shift More...

matrix::Matrix	xsi
	current output error More...

NoiseGenerator *	BNoiseGen
	Noisegenerator for noisy bias. More...

paramval	modelNoise
	strength of noisy bias More...

double	xsi_norm
	norm of matrix More...

double	xsi_norm_avg
	average norm of xsi (used to define whether Modell learns) More...

double	pain
	if the modelling error (xsi) is too high we have a pain signal More...

matrix::Matrix *	x_buffer

matrix::Matrix *	x_c_buffer
	buffer for sensors with context sensors More...

matrix::Matrix *	y_buffer

matrix::Matrix	y_teaching
	motor teaching signal More...

paramval	gamma_cont
	parameter to include contiuity in motor values (avoid high frequencies) More...

paramval	gamma_teach
	strength of teaching More...

paramval	discountS
	discount strength for hierachical model More...

paramval	dampModel
	damping of A and S matrices More...

paramval	dampController
	damping of C matrix More...

SeMoXConf	conf

bool	intern_useTeaching
	flag whether there is an actual teachning signal or not More...

int	t_rand
	initial random time to avoid syncronous management of all controllers More...

int	managementInterval
	interval between subsequent management function calls More...

parambool	_modelExt_copy
	copy of modelExtension variable (to achieve readonly) More...

Protected Attributes inherited from HomeokinBase
paramval	epsC
	learning rate factor for controller learning More...

paramval	epsA
	learning rate factor for model learning More...

paramval	factorB
	additional learning rate factor for model bias More...

paramint	s4delay
	number of timesteps of delay in the SML More...

paramint	s4avg
	number of timesteps used for smoothing the controller output values More...

paramint	logaE
	logarithmic error is used for learning 1: controller 2: model 3: both More...

paramint	rootE
	root error is used for learning 1: controller 2: model 3: both More...

paramval	squashSize
	size of the box, where the parameter updates are clipped to More...

int	t

unsigned short	buffersize

bool	initialised

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

Friends
class	ThisSim

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

This controller follows the prinziple of homeokinesis and implements the extensions described in the thesis of Georg Martius 2009, University Goettingen: Goal-Oriented Control of Self-organizing Behavior in Autonomous Robots.

This class also implements part of the guided self-organization

Name: SElf-organizing MOtor space eXtended

Main characteristics: Motor Space, Extended World model, Continuity, Teaching interface

Constructor & Destructor Documentation

SeMoX ( const SeMoXConf & conf = getDefaultConf() )

~SeMoX ( )

virtual

Member Function Documentation

Matrix calculateControllerValues ( const matrix::Matrix & x_smooth )

protectedvirtual

returns controller output for given sensor values

calculate controller outputs

Parameters

x_smooth smoothed sensors Matrix(number_channels,1)

void calcXsi ( int delay )

protectedvirtual

calculates xsi for the current time step using the delayed y values

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

protectedvirtual

puts the sensors in the ringbuffer, generate controller values and put them in the

static SeMoXConf getDefaultConf ( )

inlinestatic

returns the default configuration

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.

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 learnController ( )

protectedvirtual

learn H,C with motors y and corresponding sensors x

learn controller paramters C and H

void learnModel ( int delay )

protectedvirtual

learn A, (and S) using motors y and corresponding sensors x

void management ( )

protectedvirtual

handles inhibition damping etc.

Matrix model	(	const matrix::Matrix *	x_buffer,
		int	delay,
		const matrix::Matrix &	y
	)

protectedvirtual

calculates the predicted sensor values

static double regularizedInverse ( double v )

staticprotected

bool restore ( FILE * f )

virtual

loads the controller values from a given file.

Implements Storeable.

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

teaching matrix 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

teaching matrix with dimensions (motorsensors,1)

Implements Teachable.

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.

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.

Friends And Related Function Documentation

friend class ThisSim

friend

Member Data Documentation

parambool _modelExt_copy

protected

copy of modelExtension variable (to achieve readonly)

matrix::Matrix A

protected

Model Matrix (motors to sensors)

matrix::Matrix B

protected

Model Bias.

NoiseGenerator* BNoiseGen

protected

Noisegenerator for noisy bias.

matrix::Matrix C

protected

Controller Matrix.

SeMoXConf conf

protected

paramval dampController

protected

damping of C matrix

paramval dampModel

protected

damping of A and S matrices

paramval discountS

protected

discount strength for hierachical model

paramval gamma_cont

protected

parameter to include contiuity in motor values (avoid high frequencies)

paramval gamma_teach

protected

strength of teaching

matrix::Matrix H

protected

Controller Bias.

bool intern_useTeaching

protected

flag whether there is an actual teachning signal or not

int managementInterval

protected

interval between subsequent management function calls

paramval modelNoise

protected

strength of noisy bias

unsigned short number_motors

protected

unsigned short number_sensors

protected

double pain

protected

if the modelling error (xsi) is too high we have a pain signal

matrix::Matrix R

protected

C*A.

matrix::Matrix S

protected

additional Model Matrix (sensors derivatives to sensors)

matrix::Matrix SmallID

protected

small identity matrix in the dimension of R

int t_rand

protected

initial random time to avoid syncronous management of all controllers

matrix::Matrix v

protected

shift

matrix::Matrix* x_buffer

protected

matrix::Matrix* x_c_buffer

protected

buffer for sensors with context sensors

matrix::Matrix xsi

protected

current output error

double xsi_norm

protected

norm of matrix

double xsi_norm_avg

protected

average norm of xsi (used to define whether Modell learns)

matrix::Matrix* y_buffer

protected

matrix::Matrix y_teaching

protected

motor teaching signal

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation