MotorBabbler Class Reference

class for robot control that does motor babbling, e.g. More...

#include <motorbabbler.h>

Inherits AbstractController.

Collaboration diagram for MotorBabbler:

[legend]

List of all members.

Public Types
enum	function { Sine, SawTooth }
Public Member Functions
	MotorBabbler (function func=Sine)
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 *, int number_sensors, motor *, int number_motors)
	performs one step without learning.
void	sampleFrequencies ()
virtual bool	store (FILE *f) const
virtual bool	restore (FILE *f)
Static Public Member Functions
static double	sine (double x)
	sine
static double	sawtooth (double x)
	saw tooth shape oscillator
Protected Attributes
int	number_sensors
int	number_motors
paramval	speed
paramval	amplitude
paramint	resampling
matrix::Matrix	phases
matrix::Matrix	frequencies
RandGen *	randGen
double(*	osci )(double x)
int	t

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Detailed Description

class for robot control that does motor babbling, e.g.

sine waves with different frequencies and phaseshift

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Member Enumeration Documentation

enum function

Enumerator:

Sine
SawTooth

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Constructor & Destructor Documentation

MotorBabbler

(

function

func = Sine

)

Parameters:

	controlmask	bitmask to select channels to control (default all)
	function	controller function to use

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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.

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.

virtual bool restore

(

FILE *

f

)

[inline, virtual]

See also:

Storable

Implements Storeable.

void sampleFrequencies

(

)

double sawtooth

(

double

x

)

[static]

saw tooth shape oscillator

double sine

(

double

x

)

[static]

sine

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.

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

paramval amplitude [protected]

matrix::Matrix frequencies [protected]

int number_motors [protected]

int number_sensors [protected]

double(* osci)(double x) [protected]

matrix::Matrix phases [protected]

RandGen* randGen [protected]

paramint resampling [protected]

paramval speed [protected]

int t [protected]

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

• motorbabbler.h
• motorbabbler.cpp