SplitControl Class Reference
class for using multiple controller with one robot. More...
#include <splitcontrol.h>
Inherits AbstractController.
Collaboration diagram for SplitControl:
Classes | |
| struct | Assoziation |
Public Types | |
| typedef std::vector< Assoziation > | Assoziations |
Public Member Functions | |
| SplitControl (ControllerGenerator *controllerGenerator, const Assoziations &assoziations, std::string controllerName, int numCtrlCreateBeforeInit=1, int numContextSensors=0) | |
| virtual | ~SplitControl () |
| 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 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 int | getSensorNumber () const |
| virtual int | getMotorNumber () const |
| virtual bool | store (FILE *f) const |
| stores the object to the given file stream (binary). | |
| virtual bool | restore (FILE *f) |
| loads the object from the given file stream (binary). | |
| virtual std::vector < AbstractController * > | getControllers () const |
Protected Attributes | |
| std::vector< AbstractController * > | ctrl |
| ControllerGenerator * | controllerGenerator |
| Assoziations | assoz |
| int | numCtrlCreateBeforeInit |
| int | numContextSensors |
| int | motornumber |
| int | sensornumber |
| double * | sensorbuffer |
| double * | motorbuffer |
Detailed Description
class for using multiple controller with one robot.
The connection is flexible. The controller are generated on the fly with a generator object.
Member Typedef Documentation
| typedef std::vector<Assoziation> Assoziations |
Constructor & Destructor Documentation
| SplitControl | ( | ControllerGenerator * | controllerGenerator, | |
| const Assoziations & | assoziations, | |||
| std::string | controllerName, | |||
| int | numCtrlCreateBeforeInit = 1, |
|||
| int | numContextSensors = 0 | |||
| ) |
- Parameters:
-
controllerGenerator generator object for controller assoziations list decribing which sensors and motors are connected to each controller controllerName name numCtrlCreateBeforeInit number of controller that are generated before the init function is called. Useful if they should be put into the inspectable list of the agent numContextSensors number of context sensors (counted from the end) passed to all controllers
| ~SplitControl | ( | ) | [virtual] |
Member Function Documentation
| virtual std::vector<AbstractController*> getControllers | ( | ) | const [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.
| 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] |
loads the object from the given file stream (binary).
Implements Storeable.
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 bool store | ( | FILE * | f | ) | const [inline, virtual] |
stores the object to the given file stream (binary).
Implements Storeable.
Member Data Documentation
Assoziations assoz [protected] |
ControllerGenerator* controllerGenerator [protected] |
std::vector<AbstractController*> ctrl [protected] |
double* motorbuffer [protected] |
int motornumber [protected] |
int numContextSensors [protected] |
int numCtrlCreateBeforeInit [protected] |
double* sensorbuffer [protected] |
int sensornumber [protected] |
The documentation for this class was generated from the following files:
