ForceBoostWiring Class Reference

Implements one to one wiring that integrates the mismatch between motor commands (understood as target values) and sensor values and adds them to the controller output If more sensors than motors are used it uses just the first m sensors. More...

#include <forceboostwiring.h>

Inherits AbstractWiring, and Configurable.

Collaboration diagram for ForceBoostWiring:

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List of all members.

Public Member Functions
	ForceBoostWiring (NoiseGenerator *noise, double boost=0, bool exportBoostError=false, int plotMode=Controller, const std::string &name="ForceBoostWiring")
	constructor
virtual	~ForceBoostWiring ()
	destructor
virtual void	reset ()
	reset internal state
Protected Member Functions
virtual bool	initIntern ()
	initializes the number of sensors and motors on robot side, calculate number of sensors and motors on controller side
virtual bool	wireSensorsIntern (const sensor *rsensors, int rsensornumber, sensor *csensors, int csensornumber, double noise)
	Realizes one to one wiring from robot sensors to controller sensors.
virtual bool	wireMotorsIntern (motor *rmotors, int rmotornumber, const motor *cmotors, int cmotornumber)
	Realizes one to one wiring from controller motor outputs to robot motors.
Protected Attributes
double	boost
matrix::Matrix	error
matrix::Matrix	sens

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Detailed Description

Implements one to one wiring that integrates the mismatch between motor commands (understood as target values) and sensor values and adds them to the controller output If more sensors than motors are used it uses just the first m sensors.

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Constructor & Destructor Documentation

ForceBoostWiring	(	NoiseGenerator *	noise,
		double	boost = 0,
		bool	exportBoostError = false,
		int	plotMode = Controller,
		const std::string &	name = "ForceBoostWiring"
	)

constructor

Parameters:

	noise	NoiseGenerator that is used for adding noise to sensor values
	plotMode	see AbstractWiring
	boost	factor for mismatch integration
	exportBoostError	whether to export force boost error to inspectables (guilogger)

~ForceBoostWiring

(

)

[virtual]

destructor

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Member Function Documentation

bool initIntern

(

)

[protected, virtual]

initializes the number of sensors and motors on robot side, calculate number of sensors and motors on controller side

Implements AbstractWiring.

void reset

(

)

[virtual]

reset internal state

Reimplemented from AbstractWiring.

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

Realizes one to one wiring from controller motor outputs to robot motors.

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

Implements AbstractWiring.

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

Realizes one to one wiring from robot sensors to controller sensors.

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
	noise	size of the noise added to the sensors

Implements AbstractWiring.

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Member Data Documentation

double boost [protected]

matrix::Matrix error [protected]

matrix::Matrix sens [protected]

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

• forceboostwiring.h
• forceboostwiring.cpp