Robot Simulator of the Robotics Group for Self-Organization of Control  0.8.0
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Teachable Class Referenceabstract

Interface for teachable controller. More...

#include <teachable.h>

Inheritance diagram for Teachable:
Inheritance graph
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Public Member Functions

virtual ~Teachable ()
 
virtual void setMotorTeaching (const matrix::Matrix &teaching)=0
 The given motor teaching signal is used for this timestep. More...
 
virtual void setSensorTeaching (const matrix::Matrix &teaching)=0
 The given sensor teaching signal (distal learning) is used for this timestep. More...
 
virtual matrix::Matrix getLastMotorValues ()=0
 returns the last motor values (useful for cross motor coupling) More...
 
virtual matrix::Matrix getLastSensorValues ()=0
 returns the last sensor values (useful for cross sensor coupling) More...
 

Detailed Description

Interface for teachable controller.

Constructor & Destructor Documentation

virtual ~Teachable ( )
inlinevirtual

Member Function Documentation

virtual matrix::Matrix getLastMotorValues ( )
pure virtual

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

Implemented in Sox, InvertMotorNStep, SeMoX, PiMax, and CrossMotorCoupling.

virtual matrix::Matrix getLastSensorValues ( )
pure virtual

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

Implemented in Sox, InvertMotorNStep, SeMoX, PiMax, and CrossMotorCoupling.

virtual void setMotorTeaching ( const matrix::Matrix &  teaching)
pure 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)

Implemented in Sox, PiMax, InvertMotorNStep, SeMoX, and CrossMotorCoupling.

virtual void setSensorTeaching ( const matrix::Matrix &  teaching)
pure 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)

Implemented in Sox, InvertMotorNStep, SeMoX, PiMax, and CrossMotorCoupling.

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