Agent Class Reference

The Agent contains a controller, a robot and a wiring, which connects robot and controller. More...

#include <agent.h>

Inherited by OdeAgent.

Collaboration diagram for Agent:

Public Member Functions
	Agent (const PlotOption &plotOption=PlotOption(NoPlot), double noisefactor=1, const iparamkey &name="Agent", const paramkey &revision="$ID")
	constructor.
	Agent (const std::list< PlotOption > &plotOptions, double noisefactor=1, const iparamkey &name="Agent", const paramkey &revision="$ID")
	constructor.
virtual	~Agent ()
	destructor
virtual bool	init (AbstractController controller, AbstractRobot robot, AbstractWiring *wiring, long int seed=0)
	initializes the object with the given controller, robot and wiring and initializes the output options.
virtual void	step (double noise, double time=-1)
	Performs an step of the agent, including sensor reading, pushing sensor values through the wiring, controller step, pushing controller outputs (= motorcommands) back through the wiring and sent resulting motorcommands to robot.
virtual void	onlyControlRobot ()
	Sends only last motor commands again to robot.
virtual AbstractRobot *	getRobot ()
	Returns a pointer to the robot.
virtual void	setTrackOptions (const TrackRobot &trackrobot)
	sets the trackoptions which enable tracking of a robot
Protected Attributes
AbstractRobot *	robot
sensor *	rsensors
motor *	rmotors
RandGen	randGen
TrackRobot	trackrobot
int	t

Detailed Description

The Agent contains a controller, a robot and a wiring, which connects robot and controller.

Additionally there are some ways to keep track of internal information. You have the possibility to keep track of sensor values, motor values and internal parameters of the controller with PlotOptions. The name PlotOptions is a bit missleaded, it should be "OutputOptions", however you can write the data into a file or send it to visialisation tools like guilogger or neuronviz.

If want to log the position, speed and orienation of your robot you can use setTrackOptions(). Please be aware that the Agent inherits from WiredController. You might also find useful functions there.

Examples:: integration/main.cpp.

Constructor & Destructor Documentation

Agent	(	const PlotOption &	plotOption = `PlotOption(NoPlot)`,
		double	noisefactor = `1`,
		const iparamkey &	name = `"Agent"`,
		const paramkey &	revision = `"$ID"`
	)

constructor.

PlotOption as output setting. noisefactor is used to set the relative noise strength of this agent

Agent	(	const std::list< PlotOption > &	plotOptions,
		double	noisefactor = `1`,
		const iparamkey &	name = `"Agent"`,
		const paramkey &	revision = `"$ID"`
	)

constructor.

A list of PlotOption can given. noisefactor is used to set the relative noise strength of this agent

~Agent ( ) [virtual]

destructor

Member Function Documentation

virtual AbstractRobot* getRobot ( ) [inline, virtual]

Returns a pointer to the robot.

Reimplemented in OdeAgent.

bool init	(	AbstractController *	controller,
		AbstractRobot *	robot,
		AbstractWiring *	wiring,
		long int	seed = `0`
	)			`[virtual]`

initializes the object with the given controller, robot and wiring and initializes the output options.

It is also possible to provide a random seed, if not given (0) rand() is used to create one

Examples:: integration/main.cpp.

void onlyControlRobot ( ) [virtual]

Sends only last motor commands again to robot.

void setTrackOptions ( const TrackRobot & trackrobot ) [virtual]

sets the trackoptions which enable tracking of a robot

Reimplemented in OdeAgent.

void step	(	double	noise,
		double	time = `-1`
	)			`[virtual]`

Performs an step of the agent, including sensor reading, pushing sensor values through the wiring, controller step, pushing controller outputs (= motorcommands) back through the wiring and sent resulting motorcommands to robot.

Parameters: