Braitenberg Class Reference

simple braitenberg controler type 2 a and b (Aggressive,Cowardly) More...

#include <braitenberg.h>

Inherits AbstractController.

Collaboration diagram for Braitenberg:

[legend]

List of all members.

Public Types
enum	Type { Aggressive, Cowardly }
Public Member Functions
	Braitenberg (Type type, int leftsensor, int rightsensor, int leftmotor=0, int rightmotor=1)
virtual void	init (int sensornumber, int motornumber, RandGen *randGen=0)
	initialisation of the controller with the given sensor/ motornumber Must 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
Type	type
int	leftsensor
int	rightsensor
int	leftmotor
int	rightmotor
int	number_sensors
int	number_motors
paramval	strength
paramval	offset

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Detailed Description

simple braitenberg controler type 2 a and b (Aggressive,Cowardly)

assumes a linecamera (see LineImgProc), left and right sensor are specified in the constructor

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Member Enumeration Documentation

enum Type

Enumerator:

Aggressive
Cowardly

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Constructor & Destructor Documentation

Braitenberg	(	Type	type,
		int	leftsensor,
		int	rightsensor,
		int	leftmotor = 0,
		int	rightmotor = 1
	)			[inline]

Parameters:

	type	Braitenberg type
	leftsensor	index of left light sensor
	rightsensor	index of right light sensor
	leftmotor	index of motor of left wheel
	rightmotor	index of motor of right wheel

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Member Function Documentation

virtual int getMotorNumber

(

)

const [inline, virtual]

Returns:

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

Implements AbstractController.

virtual int getSensorNumber

(

)

const [inline, virtual]

Returns:

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

Implements AbstractController.

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

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

The random generator is optional.

Implements AbstractController.

virtual bool restore

(

FILE *

f

)

[inline, virtual]

See also:

Storable

Implements Storeable.

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

Implements AbstractController.

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

performs one step without learning.

See also:

step

Implements AbstractController.

virtual bool store

(

FILE *

f

)

const [inline, virtual]

See also:

Storable

Implements Storeable.

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Member Data Documentation

int leftmotor [protected]

int leftsensor [protected]

int number_motors [protected]

int number_sensors [protected]

paramval offset [protected]

int rightmotor [protected]

int rightsensor [protected]

paramval strength [protected]

Type type [protected]

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

• braitenberg.h