AbstractControllerAdapter Class Reference

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

Collaboration diagram for AbstractControllerAdapter:

Public Member Functions
	AbstractControllerAdapter (AbstractController *controller, const std::string &name, const std::string &revision)
virtual	~AbstractControllerAdapter ()
virtual void	init (int sensornumber, int motornumber, RandGen *randGen=0)
	initialisation of the controller with the given sensor/ motornumber Must NORMALLY be called before use.
virtual int	getSensorNumber () const
virtual int	getMotorNumber () const
virtual void	step (const sensor sensors, int sensornumber, motor motors, int motornumber)
	performs one step (includes learning).
virtual void	stepNoLearning (const sensor sensors, int sensornumber, motor motors, int motornumber)
	performs one step without learning.
virtual bool	store (FILE *f) const
virtual bool	restore (FILE *f)
Protected Attributes
AbstractController *	controller

Detailed Description

Abstract adapter 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.

With the adapter class you can easily overwrite e.g. init(), step().

This is an abstract adapter class, it's useful for implementing adapters such as the DescreteController, which can be used with all Controllers.

Note that the configureable and inspectable classes are registered at this adapter class.

The store and restore-functionality is lead through, thus only store() and restore() from

AbstractControllerAdapter	(	AbstractController *	controller,
		const std::string &	name,
		const std::string &	revision
	)			`[inline]`

virtual ~AbstractControllerAdapter ( ) [inline, virtual]

virtual int getMotorNumber ( ) const [inline, virtual]

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

virtual int getSensorNumber ( ) const [inline, virtual]

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

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

For all ControllerAdapters call first AbstractControllerAdapter::init(sensornumber,motornumber) if you overwrite this method

virtual bool restore ( FILE * f ) [inline, virtual]

Implements Storeable.

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