ClassicReinforce Class Reference

class for robot controller using several feedforward networks (satelite) and one selforg controller More...

#include <classicreinforce.h>

Collaboration diagram for ClassicReinforce:

Public Member Functions
	ClassicReinforce (const ClassicReinforceConf &conf=getDefaultConf())
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	~ClassicReinforce ()
virtual int	getSensorNumber () const
	returns the number of sensors the controller was initialised with or 0 if not initialised
virtual int	getMotorNumber () const
	returns the mumber of motors the controller was initialised with or 0 if not initialised
virtual void	step (const sensor , int number_sensors, motor , int number_motors)
	performs one step (includes learning).
virtual void	stepNoLearning (const sensor , int number_sensors, motor , int number_motors)
	performs one step without learning. Calulates motor commands from sensor inputs.
void	setManualControl (bool mControl, int action_=0)
	enables/disables manual control, action_ is the sat network number to be used if mControl is false, action is ignored
virtual void	notifyOnChange (const paramkey &key)
	Is called when a parameter was changes via setParam().
virtual bool	store (FILE *f) const
	stores the controller values to a given file.
virtual bool	restore (FILE *f)
	loads the controller values from a given file.
virtual std::list< iparamkey >	getInternalParamNames () const
	The list of the names of all internal parameters given by getInternalParams().
virtual std::list< iparamval >	getInternalParams () const
virtual std::list< ILayer >	getStructuralLayers () const
	Specifies which parameter vector forms a structural layer (in terms of a neural network) The ordering is important.
virtual std::list< IConnection >	getStructuralConnections () const
	Specifies which parameter matrix forms a connection between layers (in terms of a neural network) The orderning is not important.
Static Public Member Functions
static ClassicReinforceConf	getDefaultConf ()
Protected Member Functions
virtual int	getStateNumber ()=0
	returns number of state, to be overwritten
virtual int	calcState ()=0
	returns state, to be overwritten
virtual int	getActionNumber ()=0
	returns number of actions, to be overwritten
virtual matrix::Matrix	calcMotor (int action)=0
	returns action Matrix from discrete actions, to be overwritten
virtual double	calcReinforcement ()=0
	returns the reinforcement (reward), to be overwritten
void	putInBuffer (matrix::Matrix *buffer, const matrix::Matrix &vec, int delay=0)
virtual void	fillSensorBuffer (const sensor *x_, int number_sensors)
	puts the sensors in the ringbuffer
virtual void	fillMotorBuffer (const motor *y_, int number_motors)
	puts the motors in the ringbuffer
virtual void	management ()
	handles inhibition damping etc.
Protected Attributes
unsigned short	number_sensors
unsigned short	number_motors
unsigned short	buffersize
matrix::Matrix *	x_buffer
matrix::Matrix *	y_buffer
matrix::Matrix *	x_context_buffer
bool	manualControl
	True if actions (sats) are selected manually.
int	action
	action
int	oldaction
	old action
int	state
	current state
double	reward
	current reward
double	oldreward
	old reward (nicer for plotting)
ClassicReinforceConf	conf
bool	initialised
int	t
int	managementInterval
	interval between subsequent management calls

Detailed Description

class for robot controller using several feedforward networks (satelite) and one selforg controller

Constructor & Destructor Documentation

ClassicReinforce ( const ClassicReinforceConf & conf = getDefaultConf() )

~ClassicReinforce ( ) [virtual]

Member Function Documentation

virtual matrix::Matrix calcMotor ( int action ) [protected, pure virtual]

returns action Matrix from discrete actions, to be overwritten

virtual double calcReinforcement ( ) [protected, pure virtual]

returns the reinforcement (reward), to be overwritten

virtual int calcState ( ) [protected, pure virtual]

returns state, to be overwritten

void fillMotorBuffer	(	const motor *	y_,
		int	number_motors
	)			`[protected, virtual]`

puts the motors in the ringbuffer

void fillSensorBuffer	(	const sensor *	x_,
		int	number_sensors
	)			`[protected, virtual]`

puts the sensors in the ringbuffer

virtual int getActionNumber ( ) [protected, pure virtual]

returns number of actions, to be overwritten

static ClassicReinforceConf getDefaultConf ( ) [inline, static]

list< Inspectable::iparamkey > getInternalParamNames ( ) const [virtual]

The list of the names of all internal parameters given by getInternalParams().

The naming convention is "v[i]" for vectors and "A[i][j]" for matrices, where i, j start at 0.

Returns:: : list of keys

Reimplemented from Inspectable.

list< Inspectable::iparamval > getInternalParams ( ) const [virtual]

Returns:: : list of values

Reimplemented from Inspectable.

virtual int getMotorNumber ( ) const [inline, virtual]

returns the mumber of motors the controller was initialised with or 0 if not initialised

Implements AbstractController.

virtual int getSensorNumber ( ) const [inline, virtual]

returns the number of sensors the controller was initialised with or 0 if not initialised

Implements AbstractController.

virtual int getStateNumber ( ) [protected, pure virtual]

returns number of state, to be overwritten

list< Inspectable::IConnection > getStructuralConnections ( ) const [virtual]

Specifies which parameter matrix forms a connection between layers (in terms of a neural network) The orderning is not important.

Returns:: : list of layer names with dimension

Reimplemented from Inspectable.

list< Inspectable::ILayer > getStructuralLayers ( ) const [virtual]

Specifies which parameter vector forms a structural layer (in terms of a neural network) The ordering is important.

The first entry is the input layer and so on.

Returns:: : list of layer names with dimension

Reimplemented from Inspectable.

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

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

The random generator is optional.

Implements AbstractController.

void management ( ) [protected, virtual]

handles inhibition damping etc.

void notifyOnChange ( const paramkey & key ) [virtual]

Is called when a parameter was changes via setParam().

Note that it is not called of parameters of childs are changed, then there notifyOnChange() method is called. The key and of the changed parameter (use getParam() to retrieve its actual value). Overload this function when special actions have to be taken on parameter changes.

Reimplemented from Configurable.