onecontrollerperchannel.h

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/***************************************************************************
 *   Copyright (C) 2005-2011 LpzRobots development team                    *
 *    Georg Martius  <georg dot martius at web dot de>                     *
 *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
 *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
 *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
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 *                                                                         *
 ***************************************************************************/
#ifndef __ONECONTROLLERPERCHANNEL_H
#define __ONECONTROLLERPERCHANNEL_H

#include <selforg/abstractcontroller.h>
#include <vector>
#include <functional>


/** generator for controller

    derive a struct and overload the operator. For example:

    struct ControlGen : public ControllerGenerator {
      virtual ~ControlGen(){}
      virtual AbstractController* operator()( int index) { 
       AbstractController* c;
        c= new Sox(0.8);    
        c->setParam("epsC",0.02);
        c->setParam("epsA",0.01);
       return c; 
      }
    };
    
    // to see the values in the inspectable do after
    agent = new OdeAgent(global);
    // this line
    agent->addInspectable(((OneControllerPerChannel*)controller)->getControllers()[0]); 
    ....
    Make sure you initialize the OneControllerPerChannel with sufficiently many initial controller.

*/
struct ControllerGenerator : public std::unary_function< int,  AbstractController*> {
  virtual ~ControllerGenerator(){}
  virtual AbstractController* operator()( int index) = 0;
};


/**
 * class for using multiple controller, one for each joint. Each controller
 * has dimension 1x1. The controller are generated on the fly with a generator object
 *
 */
class OneControllerPerChannel : public AbstractController {
public:
  
  /** @param controllerGenerator generator object for controller
      @param controllerName name
      @param 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
      @param numContextSensors number of context sensors (counted from the end)
       passed to all controllers
   */
  OneControllerPerChannel(ControllerGenerator* controllerGenerator,
                          std::string controllerName,
                          int numCtrlCreateBeforeInit = 1,
                          int numContextSensors = 0
                          );

  virtual ~OneControllerPerChannel();


  virtual void init(int sensornumber, int motornumber, RandGen* randGen = 0);

  virtual void step(const sensor* sensors, int sensornumber,
                    motor* motors, int motornumber);

  virtual void stepNoLearning(const sensor* sensors , int sensornumber,
                                    motor* motors, int motornumber);

  virtual int getSensorNumber() const {return sensornumber; }
  virtual int getMotorNumber() const  {return motornumber; }

  /*********** STORABLE **************/

  virtual bool store(FILE* f) const;
  
  virtual bool restore(FILE* f);


  virtual std::vector<AbstractController*> getControllers() const { return ctrl;}
  
protected:
  std::vector<AbstractController*> ctrl;
  ControllerGenerator* controllerGenerator;
  int numCtrlCreateBeforeInit;
  int numContextSensors;
  int motornumber;
  int sensornumber;
  double* sensorbuffer;
};

#endif