The WiredController contains a controller and a wiring, which connects the controller with the robot. More...

#include <wiredcontroller.h>

Inheritance diagram for WiredController:

Collaboration diagram for WiredController:

Public Member Functions
	WiredController (const PlotOption &plotOption=PlotOption(NoPlot), double noisefactor=1, const iparamkey &name="WiredController", const paramkey &revision="$ID")
	constructor. More...

	WiredController (const std::list< PlotOption > &plotOptions, double noisefactor=1, const iparamkey &name="WiredController", const paramkey &revision="$ID")
	constructor. More...

virtual	~WiredController ()
	destructor More...

virtual bool	init (AbstractController controller, AbstractWiring wiring, int robotsensornumber, int robotmotornumber, const std::list< SensorMotorInfo > &robotSensorInfos, const std::list< SensorMotorInfo > &robotMotorInfos, RandGen *randGen=0)
	initializes the object with the given controller and wiring and initializes the output options It is also possible to provide a random seed, if not given (0) rand() is used to create one More...

virtual void	step (const sensor sensors, int sensornumber, motor motors, int motornumber, double noise, double time=-1)
	Performs an step of the controller, which includes pushing sensor values through the wiring, controller step, pushing controller outputs (= motorcommands) back through the wiring. More...

virtual void	startMotorBabblingMode (int steps, AbstractController *babblecontroller=0)
	Enables the motor babbling mode for given number of steps (typically 1000). More...

virtual AbstractController *	getMotorBabbler ()

virtual void	stopMotorBabblingMode ()
	stops the motor babbling mode. More...

virtual bool	getMotorBabblingMode ()
	returns true if in motorbabbling mode More...

virtual PlotOption	addPlotOption (PlotOption &plotoption)
	adds the PlotOptions to the list of plotoptions If a plotoption with the same Mode exists, then the old one is deleted first More...

virtual bool	addAndInitPlotOption (PlotOption &plotOption)
	adds a new PlotOption and initializes it More...

virtual bool	removePlotOption (PlotMode mode)
	removes the PlotOptions with the given type More...

virtual void	writePlotComment (const char *cmt, bool addSpace=true)
	write comment to output streams (PlotOptions). More...

virtual AbstractController *	getController ()
	Returns a pointer to the controller. More...

virtual const AbstractController *	getController () const

virtual AbstractWiring *	getWiring ()
	Returns a pointer to the wiring. 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 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 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...

Protected Member Functions
virtual void	plot (double time)
	Plots controller sensor- and motorvalues and internal controller parameters. More...

void	internInit ()

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
AbstractController *	controller

AbstractWiring *	wiring

int	rsensornumber
	number of sensors of robot More...

int	rmotornumber
	number of motors of robot More...

int	csensornumber
	number of sensors of comntroller More...

int	cmotornumber
	number of motors of comntroller More...

double	noisefactor
	factor that is muliplied with noise stength More...

motor *	cmotors

sensor *	csensors

AbstractController *	motorBabbler

int	motorBabblingSteps

PlotOptionEngine	plotEngine

bool	initialised

std::list< Callbackable * >	callbackables

long int	t

Protected Attributes inherited from Inspectable
iparamkey	name

iparampairlist	mapOfValues

imatrixpairlist	mapOfMatrices

infoLinesList	infoLineStringList

Additional Inherited Members
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

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

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

The WiredController contains a controller and a wiring, which connects the controller with the robot.

Additionally there are some ways to keep track of internal information. You have the possibility to keep track of sensor values, motor values and internal parameters of the controller with PlotOptions. The name PlotOptions is a bit missleaded, it should be "OutputOptions", however you can write the data into a file or send it to visualisation tools like guilogger or neuronviz.

Constructor & Destructor Documentation

WiredController	(	const PlotOption &	plotOption = `PlotOption(NoPlot)`,
		double	noisefactor = `1`,
		const iparamkey &	name = `"WiredController"`,
		const paramkey &	revision = `"$ID"`
	)

constructor.

PlotOption as output setting. noisefactor is used to set the relative noise strength of this agent

WiredController	(	const std::list< PlotOption > &	plotOptions,
		double	noisefactor = `1`,
		const iparamkey &	name = `"WiredController"`,
		const paramkey &	revision = `"$ID"`
	)

constructor.

A list of PlotOption can given. noisefactor is used to set the relative noise strength of this agent

~WiredController ( )

virtual

destructor

Member Function Documentation

bool addAndInitPlotOption ( PlotOption & plotOption )

virtual

adds a new PlotOption and initializes it

See Also: addPlotOption

PlotOption addPlotOption ( PlotOption & plotoption )

virtual

adds the PlotOptions to the list of plotoptions If a plotoption with the same Mode exists, then the old one is deleted first

virtual AbstractController* getController ( )

inlinevirtual

Returns a pointer to the controller.

virtual const AbstractController* getController ( ) const

inlinevirtual

virtual AbstractController* getMotorBabbler ( )

inlinevirtual

virtual bool getMotorBabblingMode ( )

inlinevirtual

returns true if in motorbabbling mode

virtual AbstractWiring* getWiring ( )

inlinevirtual

Returns a pointer to the wiring.

bool init	(	AbstractController *	controller,
		AbstractWiring *	wiring,
		int	robotsensornumber,
		int	robotmotornumber,
		const std::list< SensorMotorInfo > &	robotSensorInfos,
		const std::list< SensorMotorInfo > &	robotMotorInfos,
		RandGen *	randGen = `0`
	)

virtual

initializes the object with the given controller and wiring and initializes the output options It is also possible to provide a random seed, if not given (0) rand() is used to create one

initializes the object with the given controller, robot and wiring

void internInit ( )

protected

void plot ( double time )

protectedvirtual

Plots controller sensor- and motorvalues and internal controller parameters.

Parameters

time	simulation time

bool removePlotOption ( PlotMode mode )

virtual

removes the PlotOptions with the given type

Returns: true if sucessful, false otherwise

void startMotorBabblingMode	(	int	steps,
		AbstractController *	babblecontroller = `0`
	)

virtual

Enables the motor babbling mode for given number of steps (typically 1000).

Optionally a controller can be given that is used for the babbling (default is MotorBabbler) (deleted automatically). During motor babbling the function motorbabbling of the normal controller is called instead of step.

void step	(	const sensor *	sensors,
		int	sensornumber,
		motor *	motors,
		int	motornumber,
		double	noise,
		double	time = `-1`
	)

virtual

Performs an step of the controller, which includes pushing sensor values through the wiring, controller step, pushing controller outputs (= motorcommands) back through the wiring.

Parameters

sensors	sensors inputs scaled to [-1,1]
sensornumber	length of the sensor array
motors	motors outputs. MUST have enough space for motor values!
motornumber	length of the provided motor array
noise	Noise strength.
time	(optional) current simulation time (used for logging)

virtual void stopMotorBabblingMode ( )

inlinevirtual

stops the motor babbling mode.

void writePlotComment	(	const char *	cmt,
		bool	addSpace = `true`
	)

virtual

write comment to output streams (PlotOptions).

For instance changes in parameters. see PlotOptionEngine

Member Data Documentation

std::list<Callbackable* > callbackables

protected

int cmotornumber

protected

number of motors of comntroller

motor* cmotors

protected

AbstractController* controller

protected

int csensornumber

protected

number of sensors of comntroller

sensor* csensors

protected

bool initialised

protected

AbstractController* motorBabbler

protected

int motorBabblingSteps

protected

double noisefactor

protected

factor that is muliplied with noise stength

PlotOptionEngine plotEngine

protected

int rmotornumber

protected

number of motors of robot

int rsensornumber

protected

number of sensors of robot

long int t

protected

AbstractWiring* wiring

protected

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation