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

class for using multiple controller with one robot. More...

#include <splitcontrol.h>

Inheritance diagram for SplitControl:
Collaboration diagram for SplitControl:

Classes

struct  Assoziation
 

Public Types

typedef std::vector< AssoziationAssoziations
 
- 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
 

Public Member Functions

 SplitControl (ControllerGenerator *controllerGenerator, const Assoziations &assoziations, std::string controllerName, int numCtrlCreateBeforeInit=1, int numContextSensors=0)
 
virtual ~SplitControl ()
 
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 void step (const sensor *sensors, int sensornumber, motor *motors, int motornumber)
 performs one step (includes learning). More...
 
virtual void stepNoLearning (const sensor *sensors, int sensornumber, motor *motors, int motornumber)
 performs one step without learning. More...
 
virtual int getSensorNumber () const
 
virtual int getMotorNumber () const
 
virtual bool store (FILE *f) const
 stores the object to the given file stream (ASCII preferred). More...
 
virtual bool restore (FILE *f)
 loads the object from the given file stream (ASCII preferred). More...
 
virtual std::vector
< AbstractController * > 
getControllers () const
 
- 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< 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...
 

Protected Attributes

std::vector< AbstractController * > ctrl
 
ControllerGeneratorcontrollerGenerator
 
Assoziations assoz
 
int numCtrlCreateBeforeInit
 
int numContextSensors
 
int motornumber
 
int sensornumber
 
double * sensorbuffer
 
double * motorbuffer
 
- 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
 

Additional Inherited Members

- 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 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

class for using multiple controller with one robot.

The connection is flexible. The controller are generated on the fly with a generator object.

Member Typedef Documentation

typedef std::vector<Assoziation> Assoziations

Constructor & Destructor Documentation

SplitControl ( ControllerGenerator controllerGenerator,
const Assoziations assoziations,
std::string  controllerName,
int  numCtrlCreateBeforeInit = 1,
int  numContextSensors = 0 
)
Parameters
controllerGeneratorgenerator object for controller
assoziationslist decribing which sensors and motors are connected to each controller
controllerNamename
numCtrlCreateBeforeInitnumber of controller that are generated before the init function is called. Useful if they should be put into the inspectable list of the agent
numContextSensorsnumber of context sensors (counted from the end) passed to all controllers
~SplitControl ( )
virtual

Member Function Documentation

virtual std::vector<AbstractController*> getControllers ( ) const
inlinevirtual
virtual int getMotorNumber ( ) const
inlinevirtual
Returns
Number of motors the controller was initialised with or 0 if not initialised

Implements AbstractController.

virtual int getSensorNumber ( ) const
inlinevirtual
Returns
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.

virtual bool restore ( FILE *  f)
inlinevirtual

loads the object from the given file stream (ASCII preferred).

Implements Storeable.

void step ( const sensor sensors,
int  sensornumber,
motor motors,
int  motornumber 
)
virtual

performs one step (includes learning).

Calculates motor commands from sensor inputs.

Parameters
sensorssensors inputs scaled to [-1,1]
sensornumberlength of the sensor array
motorsmotors outputs. MUST have enough space for motor values!
motornumberlength of the provided motor array

Implements AbstractController.

void stepNoLearning ( const sensor ,
int  number_sensors,
motor ,
int  number_motors 
)
virtual

performs one step without learning.

See Also
step

Implements AbstractController.

virtual bool store ( FILE *  f) const
inlinevirtual

stores the object to the given file stream (ASCII preferred).

Implements Storeable.

Member Data Documentation

Assoziations assoz
protected
ControllerGenerator* controllerGenerator
protected
std::vector<AbstractController*> ctrl
protected
double* motorbuffer
protected
int motornumber
protected
int numContextSensors
protected
int numCtrlCreateBeforeInit
protected
double* sensorbuffer
protected
int sensornumber
protected

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