invertmotorspace.h

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00001 /***************************************************************************
00002  *   Copyright (C) 2005-2011 by                                            *
00003  *    Georg Martius  <georg dot martius at web dot de>                     *
00004  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
00005  *                                                                         *
00006  *   ANY COMMERCIAL USE FORBIDDEN!                                         *
00007  *   LICENSE:                                                              *
00008  *   This work is licensed under the Creative Commons                      *
00009  *   Attribution-NonCommercial-ShareAlike 2.5 License. To view a copy of   *
00010  *   this license, visit http://creativecommons.org/licenses/by-nc-sa/2.5/ *
00011  *   or send a letter to Creative Commons, 543 Howard Street, 5th Floor,   *
00012  *   San Francisco, California, 94105, USA.                                *
00013  *                                                                         *
00014  *   This program is distributed in the hope that it will be useful,       *
00015  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00016  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.                  *
00017  *                                                                         *
00018  ***************************************************************************/
00019 #ifndef __INVERTMOTORSPACE_H
00020 #define __INVERTMOTORSPACE_H
00021 
00022 #include "invertmotorcontroller.h" 
00023 #include <assert.h>
00024 #include <cmath>
00025 
00026 #include <selforg/matrix.h>
00027 #include <selforg/noisegenerator.h>
00028 
00029 /**
00030  * class for robot controller that uses the georg's matrixlib for 
00031  *  direct matrix inversion for n channels 
00032  * (simple one layer networks)
00033  * 
00034  * Implements standart parameters: eps, rho, mu, stepnumber4avg, stepnumber4delay
00035  */
00036 class InvertMotorSpace : public InvertMotorController {
00037 
00038 public:
00039   InvertMotorSpace(int buffersize, double cInit = 0.1 , bool someInternalParams = true);
00040   virtual void init(int sensornumber, int motornumber, RandGen* randGen = 0);
00041 
00042   virtual ~InvertMotorSpace();
00043 
00044   /// returns the number of sensors the controller was initialised with or 0 if not initialised
00045   virtual int getSensorNumber() const { return number_sensors; }
00046   /// returns the mumber of motors the controller was initialised with or 0 if not initialised
00047   virtual int getMotorNumber() const  { return number_motors; }
00048 
00049   /// performs one step (includes learning). 
00050   /// Calulates motor commands from sensor inputs.
00051   virtual void step(const sensor* , int number_sensors, motor* , int number_motors);
00052 
00053   /// performs one step without learning. Calulates motor commands from sensor inputs.
00054   virtual void stepNoLearning(const sensor* , int number_sensors, 
00055                               motor* , int number_motors);
00056 
00057   /**** STOREABLE ****/
00058   /** stores the controller values to a given file (binary).  */
00059   virtual bool store(FILE* f) const;
00060   /** loads the controller values from a given file (binary). */
00061   virtual bool restore(FILE* f);  
00062 
00063   // inspectable interface
00064   virtual std::list<ILayer> getStructuralLayers() const;
00065   virtual std::list<IConnection> getStructuralConnections() const;
00066   
00067 
00068 protected:
00069   unsigned short number_sensors;
00070   unsigned short number_motors;
00071   
00072   matrix::Matrix A; // Model Matrix
00073   matrix::Matrix C; // Controller Matrix
00074   matrix::Matrix R; // C*A
00075   matrix::Matrix H; // Controller Bias
00076   matrix::Matrix B; // Model Bias
00077   NoiseGenerator* BNoiseGen; // Noisegenerator for noisy bias
00078   matrix::Matrix* x_buffer;
00079   matrix::Matrix* y_buffer;
00080   matrix::Matrix x_smooth;
00081 
00082   bool someInternalParams;
00083   double cInit;
00084   
00085   /// puts the sensors in the ringbuffer, generate controller values and put them in the 
00086   //  ringbuffer as well
00087   void fillBuffersAndControl(const sensor* x_, int number_sensors, 
00088                              motor* y_, int number_motors);
00089 
00090   /// learn h,C, delayed motors y and corresponding sensors x
00091   virtual void learnController(const matrix::Matrix& x, const matrix::Matrix& x_smooth, int delay);
00092 
00093   /// learn A, using motors y and corresponding sensors x
00094   virtual void learnModel( const matrix::Matrix& x, const matrix::Matrix& y);
00095 
00096   /// returns controller output for given sensor values
00097   virtual matrix::Matrix calculateControllerValues(const matrix::Matrix& x_smooth);
00098     
00099 };
00100 
00101 #endif
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