21 #ifndef __INVERTMOTORCONTROLLER_H
22 #define __INVERTMOTORCONTROLLER_H
39 const std::string& name,
const std::string& revision)
paramval teacher
factor for teaching signal
Definition: invertmotorcontroller.h:64
bool parambool
Definition: configurable.h:93
paramval adaptRate
adaptation rate for learning rate adaptation
Definition: invertmotorcontroller.h:60
paramval noiseY
size of the additional noise for motor values
Definition: invertmotorcontroller.h:63
Abstract class (interface) for robot controller that use are based on the homeokinetic prinziple...
Definition: homeokinbase.h:36
parambool relativeE
if not 0: a relative error signal is used (xsi is normalised in respect to |y|)
Definition: invertmotorcontroller.h:58
unsigned short buffersize
Definition: homeokinbase.h:68
paramval zetaupdate
Definition: invertmotorcontroller.h:56
double paramval
Definition: configurable.h:88
Extended HomeokinBase class (still abstract) for robot controller work in motorspace and use possibly...
Definition: invertmotorcontroller.h:36
paramval dampA
damping term for model (0: no damping, 0.1 high damping)
Definition: invertmotorcontroller.h:57
InvertMotorController(unsigned short buffersize, const std::string &name, const std::string &revision)
Definition: invertmotorcontroller.h:38
paramval noiseB
size of the additional noise for model bias B
Definition: invertmotorcontroller.h:62
paramval steps
number of timesteps is used for controller learning
Definition: invertmotorcontroller.h:55
paramval nomUpdate
nominal update of controller in respect to matrix norm
Definition: invertmotorcontroller.h:61
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.
Definition: configurable.h:220
paramval desens
Definition: invertmotorcontroller.h:54