WiredController Class Reference

The WiredController contains a controller and a wiring, which connects the controller with the robot. More...

#include <wiredcontroller.h>

Inherited by Agent.

Collaboration diagram for WiredController:

Public Member Functions
	WiredController (const PlotOption &plotOption=PlotOption(NoPlot), double noisefactor=1, const iparamkey &name="WiredController", const paramkey &revision="$ID")
	constructor.
	WiredController (const std::list< PlotOption > &plotOptions, double noisefactor=1, const iparamkey &name="WiredController", const paramkey &revision="$ID")
	constructor.
virtual	~WiredController ()
	destructor
virtual bool	init (AbstractController controller, AbstractWiring wiring, int robotsensornumber, int robotmotornumber, RandGen *randGen=0)
	initializes the object with the given controller and wiring and initializes the output options It is also possible to provide a random seed, if not given (0) rand() is used to create one
virtual void	step (const sensor sensors, int sensornumber, motor motors, int motornumber, double noise, double time=-1)
	Performs an step of the controller, which includes pushing sensor values through the wiring, controller step, pushing controller outputs (= motorcommands) back through the wiring.
virtual void	startMotorBabblingMode (int steps, AbstractController *babblecontroller=0, bool fixRobot=true)
	Enables the motor babbling mode for given number of steps (typically 1000).
virtual AbstractController *	getMotorBabbler ()
virtual void	stopMotorBabblingMode ()
	stops the motor babbling mode.
virtual bool	getMotorBabblingMode ()
	returns true if in motorbabbling mode
virtual PlotOption	addPlotOption (PlotOption &plotoption)
	adds the PlotOptions to the list of plotoptions If a plotoption with the same Mode exists, then the old one is deleted first
virtual bool	addAndInitPlotOption (PlotOption &plotOption)
	adds a new PlotOption and initializes it
virtual bool	removePlotOption (PlotMode mode)
	removes the PlotOptions with the given type
virtual void	writePlotComment (const char *cmt)
	write comment to output streams (PlotOptions).
virtual AbstractController *	getController ()
	Returns a pointer to the controller.
virtual const AbstractController *	getController () const
virtual AbstractWiring *	getWiring ()
	Returns a pointer to the wiring.
Protected Member Functions
virtual void	plot (double time)
	Plots controller sensor- and motorvalues and internal controller parameters.
void	internInit ()
Protected Attributes
AbstractController *	controller
AbstractWiring *	wiring
int	rsensornumber
	number of sensors of robot
int	rmotornumber
	number of motors of robot
int	csensornumber
	number of sensors of comntroller
int	cmotornumber
	number of motors of comntroller
double	noisefactor
	factor that is muliplied with noise stength
motor *	cmotors
sensor *	csensors
AbstractController *	motorBabbler
int	motorBabblingSteps
PlotOptionEngine	plotEngine
bool	initialised
std::list< Callbackable * >	callbackables
long int	t

Detailed Description

The WiredController contains a controller and a wiring, which connects the controller with the robot.

Additionally there are some ways to keep track of internal information. You have the possibility to keep track of sensor values, motor values and internal parameters of the controller with PlotOptions. The name PlotOptions is a bit missleaded, it should be "OutputOptions", however you can write the data into a file or send it to visualisation tools like guilogger or neuronviz.

Constructor & Destructor Documentation

WiredController	(	const PlotOption &	plotOption = `PlotOption(NoPlot)`,
		double	noisefactor = `1`,
		const iparamkey &	name = `"WiredController"`,
		const paramkey &	revision = `"$ID"`
	)

constructor.

PlotOption as output setting. noisefactor is used to set the relative noise strength of this agent

WiredController	(	const std::list< PlotOption > &	plotOptions,
		double	noisefactor = `1`,
		const iparamkey &	name = `"WiredController"`,
		const paramkey &	revision = `"$ID"`
	)

constructor.

A list of PlotOption can given. noisefactor is used to set the relative noise strength of this agent

~WiredController ( ) [virtual]

destructor

Member Function Documentation

bool addAndInitPlotOption ( PlotOption & plotOption ) [virtual]

adds a new PlotOption and initializes it

See also:: addPlotOption

PlotOption addPlotOption ( PlotOption & plotoption ) [virtual]

adds the PlotOptions to the list of plotoptions If a plotoption with the same Mode exists, then the old one is deleted first

virtual const AbstractController* getController ( ) const [inline, virtual]

virtual AbstractController* getController ( ) [inline, virtual]

Returns a pointer to the controller.

virtual AbstractController* getMotorBabbler ( ) [inline, virtual]

virtual bool getMotorBabblingMode ( ) [inline, virtual]

returns true if in motorbabbling mode

virtual AbstractWiring* getWiring ( ) [inline, virtual]

Returns a pointer to the wiring.

bool init	(	AbstractController *	controller,
		AbstractWiring *	wiring,
		int	robotsensornumber,
		int	robotmotornumber,
		RandGen *	randGen = `0`
	)			`[virtual]`

initializes the object with the given controller and wiring and initializes the output options It is also possible to provide a random seed, if not given (0) rand() is used to create one

initializes the object with the given controller, robot and wiring

void internInit ( ) [protected]

void plot ( double time ) [protected, virtual]

Plots controller sensor- and motorvalues and internal controller parameters.

Parameters:

time

simulation time

bool removePlotOption ( PlotMode mode ) [virtual]

removes the PlotOptions with the given type

Returns:: true if sucessful, false otherwise

void startMotorBabblingMode	(	int	steps,
		AbstractController *	babblecontroller = `0`,
		bool	fixRobot = `true`
	)			`[virtual]`

Enables the motor babbling mode for given number of steps (typically 1000).

Optionally a controller can be given that is used for the babbling (default is MotorBabbler) (deleted automatically). During motor babbling the function motorbabbling of the normal controller is called instead of step. The parameter fixRobot is intended for simulations

Reimplemented in OdeAgent.

void step	(	const sensor *	sensors,
		int	sensornumber,
		motor *	motors,
		int	motornumber,
		double	noise,
		double	time = `-1`
	)			`[virtual]`

Performs an step of the controller, which includes pushing sensor values through the wiring, controller step, pushing controller outputs (= motorcommands) back through the wiring.

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
	noise	Noise strength.
	time	(optional) current simulation time (used for logging)