A simple example for the usage of the controller without the framework. This version means that you have the direct control of the data flow. See also selforg
#include<assert.h>
#include<iostream>
#include<vector>
using namespace std;
#include <selforg/sinecontroller.h>
#include <selforg/invertmotorspace.h>
void myrobot(
double* sensors,
int sensornumber,
const double* motors,
int motornumber){
assert(sensornumber >= 2 && motornumber >= 2);
sensors[0]=motors[0]+(double(rand())/RAND_MAX-0.5)*0.3;
sensors[1]=motors[1]+(double(rand())/RAND_MAX-0.5)*0.3;
}
controller->
print(stderr,0);
memset(motors,0,
sizeof(
double)*
MNumber);
for(int i=0; i < 1000; i++){
cout << i << " S0: " << sensors[0] << ", " <<" S1: " << sensors[1];
vector<Inspectable::iparamval> v(list_.begin(), list_.end());
cout << i << " C00: " << v[4] << ", " <<" C01: " << v[5] << ", " <<
" C10: " << v[6] << ", " <<" C11: " << v[7] << endl;
cout << i << " Motor values: " << motors[0] << ", " << motors[1] << endl;
}
delete controller;
return 0;
}