AbstractController Class Reference

Abstract class (interface) for robot controller. More...

#include <abstractcontroller.h>

Inherits Configurable, Inspectable, and Storeable.

Inherited by AbstractControllerAdapter, AbstractIAFController, Braitenberg, ClassicReinforce, FFNNController, HomeokinBase, InvertController, MotorBabbler, MutualInformationController, OneControllerPerChannel, ReplayController, SineController, SoML, Sos, Sox, SoxExpand, SplitControl, and use_java_controller.

Collaboration diagram for AbstractController:

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List of all members.

Public Types
typedef double	sensor
typedef double	motor
Public Member Functions
	AbstractController (const std::string &name, const std::string &revision)
	contructor (hint: use $ID$ for revision)
virtual void	init (int sensornumber, int motornumber, RandGen *randGen=0)=0
	initialisation of the controller with the given sensor/ motornumber Must be called before use.
virtual int	getSensorNumber () const =0
virtual int	getMotorNumber () const =0
virtual void	step (const sensor *sensors, int sensornumber, motor *motors, int motornumber)=0
	performs one step (includes learning).
virtual void	stepNoLearning (const sensor *, int number_sensors, motor *, int number_motors)=0
	performs one step without learning.
virtual void	motorBabblingStep (const sensor *, int number_sensors, const motor *, int number_motors)
	called in motor babbling phase.

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Detailed Description

Abstract class (interface) for robot controller.

The controller gets a number of input sensor values each timestep and has to generate a number of output motor values.

Interface assumes the following usage:

• init() is called first to initialise the dimension of sensor- and motor space
• each time step either step() or stepNoLearning() is called to ask the controller for motor values.

Examples:

directconnect/directconnect.cpp, integration/main.cpp, and template_sphererobot/main.cpp.

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Member Typedef Documentation

typedef double motor

typedef double sensor

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Constructor & Destructor Documentation

AbstractController	(	const std::string &	name,
		const std::string &	revision
	)			[inline]

contructor (hint: use $ID$ for revision)

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Member Function Documentation

virtual int getMotorNumber

(

)

const [pure virtual]

Returns:

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

Implemented in AbstractControllerAdapter, AbstractIAFController, Braitenberg, ClassicReinforce, FFNNController, InvertMotorBigModel, InvertMotorNStep, InvertMotorSpace, InvertNChannelController, MotorBabbler, MutualInformationController, OneControllerPerChannel, ReplayController, SeMoX, SineController, SoML, Sos, Sox, SoxExpand, SplitControl, and use_java_controller.

virtual int getSensorNumber

(

)

const [pure virtual]

Returns:

Number of sensors the controller was initialised with or 0 if not initialised

Implemented in AbstractControllerAdapter, AbstractIAFController, Braitenberg, ClassicReinforce, FFNNController, InvertMotorBigModel, InvertMotorNStep, InvertMotorSpace, InvertNChannelController, MotorBabbler, MutualInformationController, OneControllerPerChannel, ReplayController, SeMoX, SineController, SoML, Sos, Sox, SoxExpand, SplitControl, and use_java_controller.

virtual void init	(	int	sensornumber,
		int	motornumber,
		RandGen *	randGen = 0
	)			[pure virtual]

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

The random generator is optional.

Implemented in AbstractControllerAdapter, AbstractIAFController, AbstractMultiController, Braitenberg, ClassicReinforce, DiscreteControllerAdapter, FFNNController, InvertMotorBigModel, InvertMotorNStep, InvertMotorSpace, InvertNChannelController, MeasureAdapter, MotorBabbler, MutualInformationController, OneActiveMultiPassiveController, OneControllerPerChannel, ReplayController, SeMoX, SineController, SoML, Sos, Sox, SoxExpand, SplitControl, and use_java_controller.

Examples:

directconnect/directconnect.cpp.

virtual void motorBabblingStep	(	const sensor *	,
		int	number_sensors,
		const motor *	,
		int	number_motors
	)			[inline, virtual]

called in motor babbling phase.

the motor values are given (by babbling controller) and this controller can learn the basic relations from observed sensors/motors

Reimplemented in SoML, and Sox.

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

Implemented in AbstractControllerAdapter, AbstractIAFController, AbstractMultiController, Braitenberg, ClassicReinforce, CrossMotorCoupling, DiscreteControllerAdapter, Discretesizable, FFNNController, InvertMotorBigModel, InvertMotorNStep, InvertMotorSpace, InvertNChannelController, MeasureAdapter, MotorBabbler, MutualInformationController, OneActiveMultiPassiveController, OneControllerPerChannel, ReplayController, SeMoX, SineController, SoML, Sos, Sox, SoxExpand, SplitControl, and use_java_controller.

Examples:

directconnect/directconnect.cpp.

virtual void stepNoLearning	(	const sensor *	,
		int	number_sensors,
		motor *	,
		int	number_motors
	)			[pure virtual]

performs one step without learning.

See also:

step

Implemented in AbstractControllerAdapter, AbstractIAFController, AbstractMultiController, Braitenberg, ClassicReinforce, DiscreteControllerAdapter, Discretesizable, FFNNController, InvertMotorBigModel, InvertMotorNStep, InvertMotorSpace, InvertNChannelController, MeasureAdapter, MotorBabbler, MutualInformationController, OneActiveMultiPassiveController, OneControllerPerChannel, ReplayController, SeMoX, SineController, SoML, Sos, Sox, SoxExpand, SplitControl, and use_java_controller.

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

• abstractcontroller.h