AbstractWiring Class Reference

Abstract wiring-object between controller and robot. More...

#include <abstractwiring.h>

Inherited by CopyWiring, DerivativeWiring, FeedbackWiring, ForceBoostWiring, One2OneWiring, and WiringSequence.

Collaboration diagram for AbstractWiring:

Public Types
enum	PlotTypes { Nothing = 0, Robot = 1, Controller = 4, Noise = 8 }
typedef double	sensor
typedef double	motor
Public Member Functions
	AbstractWiring (NoiseGenerator *noise, int plotMode=Controller, const std::string &name="AbstractWiring")
	constructor
virtual	~AbstractWiring ()
	destructor
virtual bool	init (int robotsensornumber, int robotmotornumber, RandGen *randGen=0)
	Initializes the number of sensors and motors from robot (to be precise the internal parameters rsensornumber and rmotornumber!), calculates the number of sensors and motors on controller side.
virtual bool	wireSensors (const sensor rsensors, int rsensornumber, sensor csensors, int csensornumber, double noiseStrength)
	Realizes wiring from robot sensors to controller sensors.
virtual bool	wireMotors (motor rmotors, int rmotornumber, const motor cmotors, int cmotornumber)
	Realizes wiring from controller motor outputs to robot motors.
virtual int	getRobotSensornumber ()
	Returns the number of sensors on robot side.
virtual int	getRobotMotornumber ()
	Returns the number of motors on robot side.
virtual int	getControllerSensornumber ()
	Returns the number of sensors on controller side.
virtual int	getControllerMotornumber ()
	Returns the number of motors on controller side.
virtual void	reset ()
	reset internal state
Protected Member Functions
virtual bool	initIntern ()=0
	to be overloaded by subclasses The rsensornumber and rmotornumber are already stored in the member variables.
virtual bool	wireSensorsIntern (const sensor rsensors, int rsensornumber, sensor csensors, int csensornumber, double noiseStrength)=0
	to be overloaded by subclasses
virtual bool	wireMotorsIntern (motor rmotors, int rmotornumber, const motor cmotors, int cmotornumber)=0
	to be overloaded by subclasses
Protected Attributes
int	plotMode
	using plotTypes this variables defines what is plotted
matrix::Matrix	mNoise
	for storing the noise values
sensor *	noisevals
int	noisenumber
int	rsensornumber
	number of sensors at robot side
matrix::Matrix	mRsensors
	copy of the last robot sensors
int	rmotornumber
	number of motors at robot side
matrix::Matrix	mRmotors
	copy of the last robot motors
int	csensornumber
	number of sensors at controller side
matrix::Matrix	mCsensors
	copy of the last controller sensors
int	cmotornumber
	number of motors at controller side
matrix::Matrix	mCmotors
	copy of the last controller motors
NoiseGenerator *	noiseGenerator
	noise generator
RandGen *	randGen
	random generator used in NoiseGenerator (in case it is needed by subclasses)
bool	initialised

Detailed Description

Abstract wiring-object between controller and robot.

Implements wiring of robot sensors to inputs of the controller and controller outputs to robot motors.

Examples:: integration/main.cpp.

Member Typedef Documentation

typedef double motor

typedef double sensor

Member Enumeration Documentation

enum PlotTypes

Enumerator:

Nothing
Robot
Controller
Noise

Constructor & Destructor Documentation

AbstractWiring	(	NoiseGenerator *	noise,
		int	plotMode = `Controller`,
		const std::string &	name = `"AbstractWiring"`
	)			`[inline]`

constructor

Parameters:

noise

NoiseGenerator that is used for adding noise to sensor values

virtual ~AbstractWiring ( ) [inline, virtual]

destructor

Member Function Documentation

virtual int getControllerMotornumber ( ) [inline, virtual]

Returns the number of motors on controller side.

virtual int getControllerSensornumber ( ) [inline, virtual]

Returns the number of sensors on controller side.

virtual int getRobotMotornumber ( ) [inline, virtual]

Returns the number of motors on robot side.

virtual int getRobotSensornumber ( ) [inline, virtual]

Returns the number of sensors on robot side.

bool init	(	int	robotsensornumber,
		int	robotmotornumber,
		RandGen *	randGen = `0`
	)			`[virtual]`

Initializes the number of sensors and motors from robot (to be precise the internal parameters rsensornumber and rmotornumber!), calculates the number of sensors and motors on controller side.

The internal version initIntern() is called from here and be overloaded to calculate and provide the appropriate numbers controllersensornumber (csensornumber), controllermotornumber (cmotornumber) The number of noise channels (noisenumber) can also be changed.

Parameters:

randGen

pointer to random generator, if not given then a new one is created

Returns:: returns false on error, otherwise true

virtual bool initIntern ( ) [protected, pure virtual]

to be overloaded by subclasses The rsensornumber and rmotornumber are already stored in the member variables.

The random values are to be accessed via the noiseGenerator.

See also:: init()

Implemented in CopyWiring, DerivativeWiring, FeedbackWiring, ForceBoostWiring, MotorNoiseWiring, One2OneWiring, SelectiveOne2OneWiring, and WiringSequence.

virtual void reset ( ) [inline, virtual]

reset internal state

Reimplemented in CopyWiring, DerivativeWiring, and ForceBoostWiring.

bool wireMotors	(	motor *	rmotors,
		int	rmotornumber,
		const motor *	cmotors,
		int	cmotornumber
	)			`[virtual]`

Realizes wiring from controller motor outputs to robot motors.

The internal version wireMotorsIntern() is called from here and must be overloaded in order to implement the appropriate mapping.

Parameters:

	rmotors	pointer to array of motorvalues for robot
	rmotornumber	number of robot motors
	cmotors	pointer to array of motorvalues from controller
	cmotornumber	number of motorvalues from controller

Returns:: returns false if error, else true

virtual bool wireMotorsIntern	(	motor *	rmotors,
		int	rmotornumber,
		const motor *	cmotors,
		int	cmotornumber
	)			`[protected, pure virtual]`

to be overloaded by subclasses

See also:: wireMotors()

Implemented in CopyWiring, DerivativeWiring, FeedbackWiring, ForceBoostWiring, MotorNoiseWiring, One2OneWiring, and WiringSequence.

bool wireSensors	(	const sensor *	rsensors,
		int	rsensornumber,
		sensor *	csensors,
		int	csensornumber,
		double	noiseStrength
	)			`[virtual]`

Realizes wiring from robot sensors to controller sensors.

The internal version wireSensorsIntern() is called from here and must be overloaded in order to implement the appropriate mapping. Noise values of the right size are then accessible via the noisevals array.

Parameters:

	rsensors	pointer to array of sensorvalues from robot
	rsensornumber	number of sensors from robot
	csensors	pointer to array of sensorvalues for controller
	csensornumber	number of sensors to controller
	noiseStrength	size of the noise added to the sensors

Returns:: returns false on error, otherwise true

virtual bool wireSensorsIntern	(	const sensor *	rsensors,
		int	rsensornumber,
		sensor *	csensors,
		int	csensornumber,
		double	noiseStrength
	)			`[protected, pure virtual]`