DerController Class Reference

class for robot controller that uses the georg's matrixlib for direct matrix inversion for n channels (simple one layer networks) More...

#include <dercontroller.h>

Inherits InvertMotorController.

Inheritance diagram for DerController:

[legend]Collaboration diagram for DerController:

[legend]List of all members.


Public Member Functions
	DerController (const DerControllerConf &conf=getDefaultConf())
virtual void	init (int sensornumber, int motornumber)
	initialisation of the controller with the given sensor/ motornumber Must be called before use.
virtual	~DerController ()
virtual int	getSensorNumber () const
	returns the number of sensors the controller was initialised with or 0 if not initialised
virtual int	getMotorNumber () const
	returns the mumber of motors the controller was initialised with or 0 if not initialised
virtual void	step (const sensor , int number_sensors, motor , int number_motors)
	performs one step (includes learning).
virtual void	stepNoLearning (const sensor , int number_sensors, motor , int number_motors)
	performs one step without learning. Calulates motor commands from sensor inputs.
virtual bool	store (FILE *f) const
	stores the object to the given file stream (binary).
virtual bool	restore (FILE *f)
	loads the object from the given file stream (binary).
virtual std::list< iparamkey >	getInternalParamNames () const
	The list of the names of all internal parameters given by getInternalParams().
virtual std::list< iparamval >	getInternalParams () const
virtual std::list< ILayer >	getStructuralLayers () const
	Specifies which parameter vector forms a structural layer (in terms of a neural network) The ordering is important.
virtual std::list< IConnection >	getStructuralConnections () const
	Specifies which parameter matrix forms a connection between layers (in terms of a neural network) The orderning is not important.
virtual void	setTeachingMode (bool onOff)
virtual bool	getTeachingMode ()
virtual void	setMotorTeachingSignal (const motor *teaching, int len)
void	getLastMotors (motor *motors, int len)
Static Public Member Functions
DerControllerConf	getDefaultConf ()
Protected Member Functions
virtual void	fillBuffersAndControl (const sensor x_, int number_sensors, motor y_, int number_motors)
	puts the sensors in the ringbuffer, generate controller values and put them in the
virtual void	calcEtaAndBufferIt (int delay)
	calculates the first shift into the motor space useing delayed motor values.
virtual void	calcXsi (int delay)
	calculates xsi for the current time step using the delayed y values
virtual void	learnController ()
	learn H,C with motors y and corresponding sensors x
virtual matrix::Matrix	model (const matrix::Matrix &x, const matrix::Matrix &y)
	calculates the predicted sensor values
virtual void	calcCandHandAUpdates (matrix::Matrix &C_update, matrix::Matrix &H_update, matrix::Matrix &A_update, int y_delay)
	calculates the Update for C, H and A
virtual void	updateCandHandA (const matrix::Matrix &C_update, const matrix::Matrix &H_update, const matrix::Matrix &A_update, double squashSize)
	updates the matrices C, H and A
virtual matrix::Matrix	calculateControllerValues (const matrix::Matrix &x_smooth)
	calculate controller outputs
virtual double	calcMatrixNorm (const matrix::Matrix &m)
	calculates the city block distance (abs) norm of the matrix. (abs sum of absolutes / size of matrix)
virtual double	calcErrorFactor (const matrix::Matrix &e, bool loga, bool root)
	calculates the error_factor for either logarithmic (E=ln(e^Te)) or square (E=sqrt(e^te)) error
virtual paramval	getParam (const paramkey &key) const
	returns the value of the requested parameter or 0 (+ error message to stderr) if unknown.
virtual bool	setParam (const paramkey &key, paramval val)
	sets the value of the given parameter or does nothing if unknown.
virtual paramlist	getParamList () const
	The list of all parameters with there value as allocated lists.
Static Protected Member Functions
double	squashP (void *d, double z)
	squashing function, to protect against too large weight updates
double	q_s (double z, double xsi)
	an exact formula for inversion if neuron.
double	q_2s_div_s (double z, double xsi)
	an exact formula for q''/q'
Protected Attributes
unsigned short	number_sensors
unsigned short	number_motors
matrix::Matrix	A
	Model Matrix (motors to sensors).
matrix::Matrix	S
	additional Model Matrix (sensors to sensors)
matrix::Matrix	C
	Controller Matrix.
matrix::Matrix	H
	Controller Bias.
matrix::Matrix	B
	Model Bias.
NoiseGenerator *	BNoiseGen
	Noisegenerator for noisy bias.
NoiseGenerator *	YNoiseGen
	Noisegenerator for noisy motor values.
matrix::Matrix	R
	C*A.
matrix::Matrix	RRT
matrix::Matrix	AAT
matrix::Matrix	Rm1
	R^-1.
matrix::Matrix	SmallID
	small identity matrix in the dimension of R
matrix::Matrix	xsi
	current output error
double	xsi_norm
	norm of matrix
double	xsi_norm_avg
	average norm of xsi (used to define whether Modell learns)
double	pain
	if the modelling error (xsi) is too high we have a pain signal
matrix::Matrix *	x_buffer
matrix::Matrix *	y_buffer
matrix::Matrix *	eta_buffer
matrix::Matrix	zero_eta
matrix::Matrix	x_smooth
matrix::Matrix	y_teaching
	teaching motor signal
matrix::Matrix	x_intern
	fantasy sensor values
int	fantControl
	interval length for fantasising
int	fantControlLen
	length of fantasy control
int	fantReset
	number of fantasy control events before reseting internal state
DerControllerConf	conf

Detailed Description

class for robot controller that uses the georg's matrixlib for direct matrix inversion for n channels (simple one layer networks)

Implements standart parameters: eps, rho, mu, stepnumber4avg, stepnumber4delay

Constructor & Destructor Documentation

DerController ( const DerControllerConf & conf = getDefaultConf() )

~DerController ( ) [virtual]

Member Function Documentation

void calcCandHandAUpdates ( matrix::Matrix & C_update,

matrix::Matrix & H_update,

matrix::Matrix & A_update,

int y_delay

) [protected, virtual]

calculates the Update for C, H and A

double calcErrorFactor ( const matrix::Matrix & e,

bool loga,

bool root

) [protected, virtual]

calculates the error_factor for either logarithmic (E=ln(e^T*e)) or square (E=sqrt(e^t*e)) error

Reimplemented from InvertMotorController.

void calcEtaAndBufferIt ( int delay ) [protected, virtual]

calculates the first shift into the motor space useing delayed motor values.

double calcMatrixNorm ( const matrix::Matrix & m ) [protected, virtual]

calculates the city block distance (abs) norm of the matrix. (abs sum of absolutes / size of matrix)

Matrix calculateControllerValues ( const matrix::Matrix & x_smooth ) [protected, virtual]

calculate controller outputs

Parameters:

x_smooth smoothed sensors Matrix(number_channels,1)

void calcXsi ( int delay ) [protected, virtual]

calculates xsi for the current time step using the delayed y values

void fillBuffersAndControl ( const sensor * x_,

int number_sensors,

motor * y_,

int number_motors

) [protected, virtual]

puts the sensors in the ringbuffer, generate controller values and put them in the

DerControllerConf getDefaultConf ( ) [inline, static]

list< Inspectable::iparamkey > getInternalParamNames ( ) const [virtual]

The list of the names of all internal parameters given by getInternalParams().
The naming convention is "v[i]" for vectors and "A[i][j]" for matrices, where i, j start at 0.
Returns:
: list of keys

Implements Inspectable.

list< Inspectable::iparamval > getInternalParams ( ) const [virtual]

Returns:
: list of values

Implements Inspectable.

void getLastMotors ( motor * motors,

int len

)

virtual int getMotorNumber ( ) const [inline, virtual]

returns the mumber of motors the controller was initialised with or 0 if not initialised

Reimplemented from AbstractController.

virtual paramval getParam ( const paramkey & key ) const [inline, protected, virtual]

returns the value of the requested parameter or 0 (+ error message to stderr) if unknown.

Reimplemented from InvertMotorController.

virtual paramlist getParamList ( ) const [inline, protected, virtual]

The list of all parameters with there value as allocated lists.

Returns:
list of key-value pairs

Reimplemented from InvertMotorController.

virtual int getSensorNumber ( ) const [inline, virtual]

returns the number of sensors the controller was initialised with or 0 if not initialised

Reimplemented from AbstractController.

list< Inspectable::IConnection > getStructuralConnections ( ) const [virtual]

Specifies which parameter matrix forms a connection between layers (in terms of a neural network) The orderning is not important.

Returns:
: list of layer names with dimension

Reimplemented from Inspectable.

list< Inspectable::ILayer > getStructuralLayers ( ) const [virtual]

Specifies which parameter vector forms a structural layer (in terms of a neural network) The ordering is important.
The first entry is the input layer and so on.
Returns:
: list of layer names with dimension

Reimplemented from Inspectable.

bool getTeachingMode ( ) [virtual]

void init ( int sensornumber,

int motornumber

) [virtual]

initialisation of the controller with the given sensor/ motornumber Must be called before use.

Reimplemented from AbstractController.

void learnController ( ) [protected, virtual]

learn H,C with motors y and corresponding sensors x

Matrix model ( const matrix::Matrix & x,

const matrix::Matrix & y

) [protected, virtual]

calculates the predicted sensor values

double q_2s_div_s ( double z,

double xsi

) [inline, static, protected]

an exact formula for q''/q'

double q_s ( double z,

double xsi

) [inline, static, protected]

an exact formula for inversion if neuron.

bool restore ( FILE * f ) [virtual]

loads the object from the given file stream (binary).

Implements Storeable.

void setMotorTeachingSignal ( const motor * teaching,

int len

) [virtual]

virtual bool setParam ( const paramkey & key,

paramval val

) [inline, protected, virtual]

sets the value of the given parameter or does nothing if unknown.

Reimplemented from InvertMotorController.

void setTeachingMode ( bool onOff ) [virtual]

double squashP ( void * d,

double z

) [inline, static, protected]

squashing function, to protect against too large weight updates

void step ( const sensor * ,

int number_sensors,

motor * ,

int number_motors

) [virtual]

performs one step (includes learning).
Calulates motor commands from sensor inputs.
Reimplemented from AbstractController.

void stepNoLearning ( const sensor * ,

int number_sensors,

motor * ,

int number_motors

) [virtual]

performs one step without learning. Calulates motor commands from sensor inputs.

Reimplemented from AbstractController.

bool store ( FILE * f ) const [virtual]

stores the object to the given file stream (binary).

Implements Storeable.

void updateCandHandA ( const matrix::Matrix & C_update,

const matrix::Matrix & H_update,

const matrix::Matrix & A_update,

double squashSize

) [protected, virtual]

updates the matrices C, H and A