class for robot control with sine and cosine More...

#include <use_java_controller.h>

Inheritance diagram for use_java_controller:

Collaboration diagram for use_java_controller:

Public Member Functions
	use_java_controller (const char port_controller="4444", const char port_internalParams=NULL, const char *name="defaultRobot")
	Konstruktor: Initialisiert die Serververbindungen zu Java. More...

virtual	~use_java_controller ()

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 int	getSensorNumber () const

virtual int	getMotorNumber () const

virtual void	step (const sensor sensors, int sensornumber, motor motors, int motornumber)
	performs one step (includes learning). More...

virtual void	stepNoLearning (const sensor , int number_sensors, motor , int number_motors)
	performs one step without learning. More...

void	sendToJava (const char message, bool abbruch, const char meldung="Fehler beim Senden der Daten zum Java-Controller\n")
	Methode verschickt message an Java-controller. More...

void	closeJavaController ()
	Methode verschickt Protokolle nach Java. More...

virtual std::list< iparamkey >	getInternalParamNames () const
	executed once when guilogger or neuronvis or file logger is started to get the names of the inspectable parameters (names should be sent from java-controller and returned) More...

virtual std::list< iparamval >	getInternalParams () const
	executed every step when guilogger or neuronvis or file logger is active to get the values of the inspectable parameters (values should be sent from java-controller and returned) More...

virtual paramval	getParam (const paramkey &key) const
	executed when a parameter is asked from the console (value should be sent from java-controller and returned) More...

virtual bool	setParam (const paramkey &key, paramval val)
	executed when a parameter is set on the console (new value should be sent to java-controller) More...

virtual paramlist	getParamList () const
	executed once from simulation for asking the parameter names (parameter names should be sent from java-controller and returned) More...

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...

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 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 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 Storeable
virtual	~Storeable ()

bool	storeToFile (const char *filename) const
	Provided for convenience. More...

bool	restoreFromFile (const char *filename)
	Provided for convenience. More...

Static Public Member Functions
static void	addController ()

Static Public Attributes
static int	anzahl_Java_controller =0

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 Attributes
int	t

const char *	name

int	number_sensors

int	number_motors

int	number_controlled

bool	serverOK

int	server_controller

int	server_internalParams

int	client_controller

int	client_internalParams

socklen_t	client_controller_size

socklen_t	client_internalParams_size

struct sockaddr_in	server_controller_addr

struct sockaddr_in	server_internalParams_addr

struct sockaddr_in	client_controller_addr

struct sockaddr_in	client_internalParams_addr

paramlist	config_param_list

int	anz_config_param

iparamkeylist	internal_keylist

iparamvallist	internal_vallist

iparamvallist	internal_vallist_alt

int	anz_internal_param

bool	can_send

bool	isFirst

bool	isClosed

bool	server_guilogger_isClosed

bool	server_controller_isClosed

int	anzahl_closed_Server

double *	motor_values_alt

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

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

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 robot control with sine and cosine

Constructor & Destructor Documentation

use_java_controller	(	const char *	port_controller = `"4444"`,
		const char *	port_internalParams = `NULL`,
		const char *	name = `"defaultRobot"`
	)

Konstruktor: Initialisiert die Serververbindungen zu Java.

Parameters

port_controller	Portnummer für die Kommunikation des Controllers
port_internalParams	Portnummer für die Kommunikation des Guiloggers

~use_java_controller ( )

virtual

Member Function Documentation

static void addController ( )

inlinestatic

void closeJavaController ( )

Methode verschickt Protokolle nach Java.

list< Inspectable::iparamkey > getInternalParamNames ( ) const

virtual

executed once when guilogger or neuronvis or file logger is started to get the names of the inspectable parameters (names should be sent from java-controller and returned)

Reimplemented from Inspectable.

list< Inspectable::iparamval > getInternalParams ( ) const

virtual

executed every step when guilogger or neuronvis or file logger is active to get the values of the inspectable parameters (values should be sent from java-controller and returned)

Reimplemented from Inspectable.

virtual int getMotorNumber ( ) const

inlinevirtual

Returns: Number of motors the controller was initialised with or 0 if not initialised

Implements AbstractController.

Configurable::paramval getParam ( const paramkey & key ) const

virtual

executed when a parameter is asked from the console (value should be sent from java-controller and returned)

Configurable::paramlist getParamList ( ) const

virtual

executed once from simulation for asking the parameter names (parameter names should be sent from java-controller and returned)

Reimplemented from Configurable.

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.

Implements AbstractController.

virtual bool restore ( FILE * f )

inlinevirtual

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

Implements Storeable.

void sendToJava	(	const char *	message,
		bool	abbruch,
		const char *	meldung = `"Fehler beim Senden der Daten zum Java-Controller\n"`
	)

Methode verschickt message an Java-controller.

Methode verschickt Protokolle nach Java.

bool setParam	(	const paramkey &	key,
		paramval	val
	)

virtual

executed when a parameter is set on the console (new value should be sent to java-controller)

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

virtual

performs one step (includes learning).

Calculates motor commands from sensor inputs.

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

Calculates motor commands from sensor inputs.

Parameters

sensors	inputs scaled to [-1,1]
sensornumber	length of the sensor array
motors	outputs. MUST have enough space for motor values!
motornumber	length of the provided motor array

Implements AbstractController.

void stepNoLearning	(	const sensor *	sensors,
		int	number_sensors,
		motor *	motors,
		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

int anz_config_param

protected

int anz_internal_param

protected

int anzahl_closed_Server

protected

int anzahl_Java_controller =0

static

bool can_send

protected

int client_controller

protected

struct sockaddr_in client_controller_addr

protected

socklen_t client_controller_size

protected

int client_internalParams

protected

struct sockaddr_in client_internalParams_addr

protected

socklen_t client_internalParams_size

protected

paramlist config_param_list

protected

iparamkeylist internal_keylist

protected

iparamvallist internal_vallist

protected

iparamvallist internal_vallist_alt

protected

bool isClosed

protected

bool isFirst

protected

double* motor_values_alt

protected

const char* name

protected

int number_controlled

protected

int number_motors

protected

int number_sensors

protected

int server_controller

protected

struct sockaddr_in server_controller_addr

protected

bool server_controller_isClosed

protected

bool server_guilogger_isClosed

protected

int server_internalParams

protected

struct sockaddr_in server_internalParams_addr

protected

bool serverOK

protected

int t

protected

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation