MutualInformationController Class Reference

This is a controller who is passive at the moment, that means, he will not generate any motor values. More...

#include <mutualinformationcontroller.h>

Collaboration diagram for MutualInformationController:

Public Member Functions
	MutualInformationController (int sensorIntervalCount, double minSensorValue=-1, double maxSensorValue=1, bool showF=false, bool showP=false, bool showXsiF=false)
	Constructs the mutual information controller.
virtual	~MutualInformationController ()
virtual double &	getMI (int index)
virtual double &	getH_x (int index)
virtual double &	getH_yx (int index)
virtual double &	getH_Xsi (int index)
virtual void	setAandCandCalcH_xsi (double ainit, double cinit)
	we like to calculate the entropy of the xsi, therefore we need for the (self calculated) update rule x_t+1=-a * tanh(c * x_t) the a and c, which should be set in the main.cpp.
virtual void	init (int sensornumber, int motornumber, RandGen *randGen=0)
	initialisation of the controller with the given sensor/ motornumber Must NORMALLY 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
	The list of the names of all internal parameters given by getInternalParams().
virtual bool	restore (FILE *f)
	loads the object from the given file stream (binary).
Static Public Attributes
static const int	numberSensorsPreInitialized = 10
static const int	numberMotorsPreInitialized = 2
Protected Member Functions
virtual void	calculateMIs (double *MI)
	Calculates the mutual information This is made by normal formula, which needs O(n^2) costs.
virtual void	calculateH_x (double *H)
	Calculates the entropy of x This is made by normal formula, which needs O(n) costs.
virtual void	calculateH_yx (double *H_yx)
	Calculates the conditional entropy of y\|x This is made by normal formula, which needs O(n²) costs.
virtual void	updateXsiFreqMatrixList (const sensor *sensors)
	Updates the xsi frequency matrix list.
virtual void	calculateH_Xsi (double *H_Xsi)
	Calculates the entropy of H(Xsi) This is made by normal formula, which needs O(n) costs.
virtual void	updateMIs (const sensor *sensors)
	Updates the mutual information This is made by a difference term, which is added to the old MI(t-1).
virtual int	getState (double sensorValue)
	Returns the appropiate state which belongs to the given sensorValue.
virtual void	internalInit (int sensornumber, int motornumber, RandGen *randGen=0)
	Does the pre-initialization functionality.
Protected Attributes
parambool	showF
parambool	showP
parambool	showXsiF
bool	initialized
bool	useXsiCalculation
double	minSensorValue
double	maxSensorValue
int	sensorIntervalCount
int	sensorNumber
int	motorNumber
std::list< matrix::Matrix * >	freqMatrixList
std::list< matrix::Matrix * >	probMatrixList
std::list< matrix::Matrix * >	xsiFreqMatrixList
double *	oldSensorStates
int	t
double *	MI
double *	H_x
double *	H_yx
double *	H_Xsi
double	ainit
double	cinit

Detailed Description

This is a controller who is passive at the moment, that means, he will not generate any motor values.

This controller calculates the mutual information from one to the next time step. Note that many steps are necessary for a good prediction of the mutual information.

Constructor & Destructor Documentation

MutualInformationController	(	int	sensorIntervalCount,
		double	minSensorValue = `-1`,
		double	maxSensorValue = `1`,
		bool	showF = `false`,
		bool	showP = `false`,
		bool	showXsiF = `false`
	)

Constructs the mutual information controller.

At this time the controller is not yet initialized (this does the Agent).

Parameters:

	sensorIntervalCount	is the number of the intervals used. This is important for generating the internal matrices.
	minSensorValue	is the minimum value the sensors can become
	maxSensorValue	is the maximum value the sensors can become

virtual ~MutualInformationController ( ) [inline, virtual]

Member Function Documentation

void calculateH_x ( double * H ) [protected, virtual]

Calculates the entropy of x This is made by normal formula, which needs O(n) costs.

void calculateH_Xsi ( double * H_Xsi ) [protected, virtual]

Calculates the entropy of H(Xsi) This is made by normal formula, which needs O(n) costs.

void calculateH_yx ( double * H_yx ) [protected, virtual]

Calculates the conditional entropy of y|x This is made by normal formula, which needs O(n²) costs.

void calculateMIs ( double * MI ) [protected, virtual]

Calculates the mutual information This is made by normal formula, which needs O(n^2) costs.

virtual double& getH_x ( int index ) [inline, virtual]

virtual double& getH_Xsi ( int index ) [inline, virtual]

virtual double& getH_yx ( int index ) [inline, virtual]

virtual double& getMI ( int index ) [inline, virtual]

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.

int getState ( double sensorValue ) [protected, virtual]

Returns the appropiate state which belongs to the given sensorValue.

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

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

For all ControllerAdapters call first AbstractControllerAdapter::init(sensornumber,motornumber) if you overwrite this method

Implements AbstractController.

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

Does the pre-initialization functionality.

Parameters:

	sensornumber
	motornumber
	randGen

virtual bool restore ( FILE * f ) [inline, virtual]

loads the object from the given file stream (binary).

Implements Storeable.

void setAandCandCalcH_xsi	(	double	ainit,
		double	cinit
	)			`[virtual]`

we like to calculate the entropy of the xsi, therefore we need for the (self calculated) update rule x_t+1=-a * tanh(c * x_t) the a and c, which should be set in the main.cpp.

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

performs one step without learning.

See also:: step

Implements AbstractController.

virtual bool store ( FILE * f ) const [inline, 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; : list of values stores the object to the given file stream (binary).

Implements Storeable.

void updateMIs ( const sensor * sensors ) [protected, virtual]

Updates the mutual information This is made by a difference term, which is added to the old MI(t-1).

This function needs the OLD MI(t-1) AND the OLD F matrix, so update the MI with this function first before updating the F matrix! calculation costs: O(1)

void updateXsiFreqMatrixList ( const sensor * sensors ) [protected, virtual]

Updates the xsi frequency matrix list.