24 #ifndef __SINECONTROLLER_H
25 #define __SINECONTROLLER_H
50 virtual void init(
int sensornumber,
int motornumber,
RandGen* randGen = 0);
68 virtual void step(
const sensor* sensors,
int sensornumber,
69 motor* motors,
int motornumber);
79 virtual bool store(FILE* f)
const {
91 static double sine(
double x,
double _unused);
93 static double sawtooth(
double x,
double _unused);
111 double (*
osci) (
double x,
double param);
117 virtual void init(
int sensornumber,
int motornumber,
RandGen* randGen = 0);
MultiSineController(unsigned long int controlmask=(~0), function func=Sine)
Definition: sinecontroller.cpp:118
double * periods
Definition: sinecontroller.h:121
virtual int getSensorNumber() const
Definition: sinecontroller.h:54
unsigned long int controlmask
Definition: sinecontroller.h:102
Abstract class for robot controller (with some basic functionality).
Definition: abstractcontroller.h:46
virtual void step(const sensor *sensors, int sensornumber, motor *motors, int motornumber)
performs one step ( the same as StepNoLearning).
Definition: sinecontroller.cpp:65
virtual void stepNoLearning(const sensor *, int number_sensors, motor *, int number_motors)
performs one step.
Definition: sinecontroller.cpp:144
double sensor
Definition: types.h:29
static double sawtooth(double x, double _unused)
saw tooth shape oscillator
Definition: sinecontroller.cpp:91
random generator with 48bit integer arithmentic
Definition: randomgenerator.h:34
double(* osci)(double x, double param)
Definition: sinecontroller.h:111
long t
Definition: sinecontroller.h:125
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
Definition: configurable.cpp:308
double * amplitudes
Definition: sinecontroller.h:123
double sensor
Definition: abstractcontroller.h:48
Definition: sinecontroller.h:39
double phase
Definition: sinecontroller.h:108
double * offsets
Definition: sinecontroller.h:124
double paramval
Definition: configurable.h:88
virtual void init(int sensornumber, int motornumber, RandGen *randGen=0)
initialisation of the controller with the given sensor/ motornumber Must be called before use...
Definition: sinecontroller.cpp:128
static double sine(double x, double _unused)
sine
Definition: sinecontroller.cpp:87
paramval amplitude
Definition: sinecontroller.h:109
int number_sensors
Definition: sinecontroller.h:100
std::string name
Definition: sinecontroller.h:99
bool individual
Definition: sinecontroller.h:103
paramval impulsWidth
Definition: sinecontroller.h:107
paramval period
Definition: sinecontroller.h:105
virtual void init(int sensornumber, int motornumber, RandGen *randGen=0)
initialisation of the controller with the given sensor/ motornumber Must be called before use...
Definition: sinecontroller.cpp:60
double motor
Definition: types.h:30
static double impuls(double x, double impulsWidth)
impuls shaped oscillator (+-1 for impulsWidth part of the time)
Definition: sinecontroller.cpp:106
virtual void stepNoLearning(const sensor *, int number_sensors, motor *, int number_motors)
performs one step.
Definition: sinecontroller.cpp:70
Definition: sinecontroller.h:39
Definition: sinecontroller.h:39
Definition: sinecontroller.h:114
virtual bool restore(FILE *f)
Definition: sinecontroller.h:85
bool parse(FILE *f, const char *prefix=0, bool traverseChildren=true)
parses the configuration from the given file
Definition: configurable.cpp:384
paramval phaseShift
Definition: sinecontroller.h:106
double motor
Definition: abstractcontroller.h:49
class for robot control with sine, sawtooth and impuls
Definition: sinecontroller.h:37
SineController(unsigned long int controlmask=(~0), function func=Sine)
Definition: sinecontroller.cpp:33
virtual int getMotorNumber() const
Definition: sinecontroller.h:59
virtual bool store(FILE *f) const
Definition: sinecontroller.h:79
double * phaseShifts
Definition: sinecontroller.h:122
int number_motors
Definition: sinecontroller.h:101