Abstact class for configurable objects. More...

#include <configurable.h>

Inheritance diagram for Configurable:

Collaboration diagram for Configurable:

Classes
struct	matchId
	nice predicate function for finding by ID More...

Public Types
typedef std::string	paramkey

typedef std::string	paramdescr

typedef double	paramval

typedef std::list< std::pair < paramkey, paramval > >	paramlist

typedef std::map< paramkey, paramval * >	parammap

typedef bool	parambool

typedef std::list< std::pair < paramkey, parambool > >	paramboollist

typedef std::map< paramkey, parambool * >	paramboolmap

typedef int	paramint

typedef std::list< std::pair < paramkey, paramint > >	paramintlist

typedef std::map< paramkey, paramint * >	paramintmap

typedef std::map< paramkey, paramdescr >	paramdescrmap

typedef std::pair< paramval, paramval >	paramvalBounds

typedef std::map< paramkey, paramvalBounds >	paramvalBoundsMap

typedef std::pair< paramint, paramint >	paramintBounds

typedef std::map< paramkey, paramintBounds >	paramintBoundsMap

typedef std::pair< paramkey, paramval * >	paramvalpair

typedef std::pair< paramkey, parambool * >	paramboolpair

typedef std::pair< paramkey, paramint * >	paramintpair

typedef std::vector < Configurable * >	configurableList

Public Types inherited from BackCaller
typedef unsigned long	CallbackableType

Public Member Functions
	Configurable ()

	Configurable (const std::string &name, const std::string &revision)
	intialise with name and revision (use "$ID$") More...

virtual	~Configurable ()

virtual void	notifyOnChange (const paramkey &key)
	Is called when a parameter was changes via setParam(). More...

virtual void	addParameter (const paramkey &key, paramval *val, paramval minBound, paramval maxBound, const paramdescr &descr=paramdescr())
	This is the new style for adding configurable parameters. More...

virtual void	addParameter (const paramkey &key, paramval *val, const paramdescr &descr=paramdescr())
	See addParameter(const paramkey& key, paramval* val, paramval minBound, paramval maxBound, const paramdescr& descr) More...

virtual void	addParameter (const paramkey &key, parambool *val, const paramdescr &descr=paramdescr())
	See addParameter(const paramkey& key, paramval* val) but for bool values. More...

virtual void	addParameter (const paramkey &key, paramint *val, paramint minBound, paramint maxBound, const paramdescr &descr=paramdescr())
	See addParameter(const paramkey& key, paramval* val) but for int values. More...

virtual void	addParameter (const paramkey &key, paramint *val, const paramdescr &descr=paramdescr())

virtual void	addParameterDef (const paramkey &key, paramval *val, paramval def, paramval minBound, paramval maxBound, const paramdescr &descr=paramdescr())
	This function is only provided for convenience. More...

virtual void	addParameterDef (const paramkey &key, paramval *val, paramval def, const paramdescr &descr=paramdescr())

virtual void	addParameterDef (const paramkey &key, parambool *val, parambool def, const paramdescr &descr=paramdescr())
	See addParameterDef(const paramkey&, paramval*, paramval) More...

virtual void	addParameterDef (const paramkey &key, paramint *val, paramint def, paramint minBound, paramint maxBound, const paramdescr &descr=paramdescr())
	See addParameterDef(const paramkey&, paramval*, paramval) More...

virtual void	addParameterDef (const paramkey &key, paramint *val, paramint def, const paramdescr &descr=paramdescr())

virtual void	setParamDescr (const paramkey &key, const paramdescr &descr, bool traverseChildren=true)
	sets a description for the given parameter More...

int	getId () const
	return the id of the configurable objects, which is created by random on initialisation More...

virtual paramkey	getName () const
	return the name of the object More...

virtual paramkey	getRevision () const
	returns the revision of the object More...

virtual void	setName (const paramkey &name, bool callSetNameOfInspectable=true)
	Sets the name of the configurable. More...

virtual void	setRevision (const paramkey &revision)
	sets the revision Hint: { return "$ID$"; } More...

virtual paramval	getParam (const paramkey &key, bool traverseChildren=true) const
	returns the value of the requested parameter or 0 (+ error message to stderr) if unknown. More...

virtual bool	hasParam (const paramkey &key, bool traverseChildren=true) const
	Returns if the requested parameter is part of the configurable or their children. More...

virtual bool	setParam (const paramkey &key, paramval val, bool traverseChildren=true)
	sets the value of the given parameter or does nothing if unknown. More...

virtual void	setParamBounds (const paramkey &key, paramval minBound, paramval maxBound, bool traverseChildren=true)
	Sets the bounds (minBound and maxBound) of the given parameter. More...

virtual void	setParamBounds (const paramkey &key, paramint minBound, paramint maxBound, bool traverseChildren=true)

virtual void	setParamBounds (const paramkey &key, paramvalBounds bounds, bool traverseChildren=true)

virtual void	setParamBounds (const paramkey &key, paramintBounds bounds, bool traverseChildren=true)

virtual paramlist	getParamList () const
	The list of all parameters with there value as allocated lists. More...

virtual std::list< paramkey >	getAllParamNames (bool traverseChildren=true)
	returns all names that are configureable More...

virtual parammap	getParamValMap () const

virtual paramintmap	getParamIntMap () const

virtual paramboolmap	getParamBoolMap () const

virtual paramdescr	getParamDescr (const paramkey &key, bool traverseChildren=true) const
	returns the description for the given parameter More...

virtual paramvalBounds	getParamvalBounds (const paramkey &key, bool traverseChildren=true) const

virtual paramintBounds	getParamintBounds (const paramkey &key, bool traverseChildren=true) const

virtual bool	hasParamDescr (const paramkey &key, bool traverseChildren=true) const

virtual bool	hasParamvalBounds (const paramkey &key, bool traverseChildren=true) const

virtual bool	hasParamintBounds (const paramkey &key, bool traverseChildren=true) const

virtual bool	storeCfg (const char *filenamestem, const std::list< std::string > &comments=std::list< std::string >())
	stores the key values paires into the file : filenamestem.cfg including the comments given in the list More...

virtual bool	restoreCfg (const char *filenamestem)
	restores the key values paires from the file : filenamestem.cfg More...

void	print (FILE f, const char prefix, int columns=90, bool traverseChildren=true) const
	prints the keys, values and descriptions to the file. Each line is prefixed More...

bool	parse (FILE f, const char prefix=0, bool traverseChildren=true)
	parses the configuration from the given file More...

virtual void	addConfigurable (Configurable *conf)
	Adds a configurable as a child object. More...

virtual void	removeConfigurable (Configurable *conf)
	Removes a configurable as a child object. More...

virtual const configurableList &	getConfigurables () const
	Returns the list containing all configurable children. More...

virtual void	configurableChanged ()
	Indicates that the configurable itself or the configurable children attached to this configurable have changed. More...

Public Member Functions inherited from BackCaller
	BackCaller ()

virtual	~BackCaller ()

virtual void	addCallbackable (Callbackable *callbackableInstance, CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Adds a Callbackable instance to this caller instance. More...

virtual void	removeCallbackable (Callbackable *callbackableInstance, CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Removes a Callbackable instance from this caller instance. More...

virtual void	removeAllCallbackables (CallbackableType type)
	Removes all Callbackable instances from this caller instance. More...

virtual void	callBack (CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Calls all registered callbackable classes of the determined type. More...

virtual void	callBackQMP (CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Calls all registered callbackable classes of the determined type. More...

Static Public Attributes
static const CallbackableType	CALLBACK_CONFIGURABLE_CHANGED = 11

Static Public Attributes inherited from BackCaller
static const CallbackableType	DEFAULT_CALLBACKABLE_TYPE = 0
	This is the default Callbackable type. More...

Protected Member Functions
void	copyParameters (const Configurable &, bool traverseChildren=true)
	copies the internal params of the given configurable More...

void	printdescr (FILE f, const char prefix, const paramkey &key, int columns, int indent) const

Detailed Description

Abstact class for configurable objects.

Sort of Hashmap interface. Parameters are double, int or boolean values

The Configurator is a (planned) external tool that can be used for changing the values of configurable objects.

Protocoll for Configurator:

To Configurator (BNF notation):
Conf         := <Comp>*
Comp         := <CompName> <Pair>*
CompName     := [<string>][<int>]<newline>
Pair         := <alphanum>=<double><newline>

the remaining tags are self explanatory

Example

[Component name which can contain spaces and digits and .,- ][ID1]
key1 = value1
key2 = value2
.
.
[Other Component name which can contain spaces and digits and .,- ][ID2]
key3 = value3

Answer: (from Communicator to Simulation environment)

On change of a parameter:
[ID] key=newvalue

or
key=newvalue

the latter one means that the parameter is changed in all components
Request of the description as defined above.
#Something I don\'t care

Member Typedef Documentation

typedef std::vector<Configurable*> configurableList

typedef bool parambool

typedef std::list<std::pair<paramkey, parambool> > paramboollist

typedef std::map<paramkey, parambool*> paramboolmap

typedef std::pair<paramkey, parambool*> paramboolpair

typedef std::string paramdescr

typedef std::map<paramkey, paramdescr> paramdescrmap

typedef int paramint

typedef std::pair<paramint, paramint> paramintBounds

typedef std::map<paramkey, paramintBounds> paramintBoundsMap

typedef std::list<std::pair<paramkey, paramint> > paramintlist

typedef std::map<paramkey, paramint*> paramintmap

typedef std::pair<paramkey, paramint*> paramintpair

typedef std::string paramkey

typedef std::list<std::pair<paramkey, paramval> > paramlist

typedef std::map<paramkey, paramval*> parammap

typedef double paramval

typedef std::pair<paramval, paramval> paramvalBounds

typedef std::map<paramkey, paramvalBounds> paramvalBoundsMap

typedef std::pair<paramkey, paramval*> paramvalpair

Constructor & Destructor Documentation

Configurable ( )

inline

Configurable	(	const std::string &	name,
		const std::string &	revision
	)

inline

intialise with name and revision (use "$ID$")

virtual ~Configurable ( )

inlinevirtual

Member Function Documentation

void addConfigurable ( Configurable * conf )

virtual

Adds a configurable as a child object.

Parameters

conf	the instance to add

virtual void addParameter	(	const paramkey &	key,
		paramval *	val,
		paramval	minBound,
		paramval	maxBound,
		const paramdescr &	descr = `paramdescr()`
	)

inlinevirtual

This is the new style for adding configurable parameters.

Just call this function for each parameter and you are done. If you need to do some special treatment for setting (or getting) of the parameter you can handle this by overloading getParam and setParam

virtual void addParameter	(	const paramkey &	key,
		paramval *	val,
		const paramdescr &	descr = `paramdescr()`
	)

inlinevirtual

See addParameter(const paramkey& key, paramval* val, paramval minBound, paramval maxBound, const paramdescr& descr)

virtual void addParameter	(	const paramkey &	key,
		parambool *	val,
		const paramdescr &	descr = `paramdescr()`
	)

inlinevirtual

See addParameter(const paramkey& key, paramval* val) but for bool values.

virtual void addParameter	(	const paramkey &	key,
		paramint *	val,
		paramint	minBound,
		paramint	maxBound,
		const paramdescr &	descr = `paramdescr()`
	)

inlinevirtual

See addParameter(const paramkey& key, paramval* val) but for int values.

virtual void addParameter	(	const paramkey &	key,
		paramint *	val,
		const paramdescr &	descr = `paramdescr()`
	)

inlinevirtual

virtual void addParameterDef	(	const paramkey &	key,
		paramval *	val,
		paramval	def,
		paramval	minBound,
		paramval	maxBound,
		const paramdescr &	descr = `paramdescr()`
	)

inlinevirtual

This function is only provided for convenience.

It does the same as addParameter but set the variable to the default value

virtual void addParameterDef	(	const paramkey &	key,
		paramval *	val,
		paramval	def,
		const paramdescr &	descr = `paramdescr()`
	)

inlinevirtual

virtual void addParameterDef	(	const paramkey &	key,
		parambool *	val,
		parambool	def,
		const paramdescr &	descr = `paramdescr()`
	)

inlinevirtual

See addParameterDef(const paramkey&, paramval*, paramval)

virtual void addParameterDef	(	const paramkey &	key,
		paramint *	val,
		paramint	def,
		paramint	minBound,
		paramint	maxBound,
		const paramdescr &	descr = `paramdescr()`
	)

inlinevirtual

See addParameterDef(const paramkey&, paramval*, paramval)

virtual void addParameterDef	(	const paramkey &	key,
		paramint *	val,
		paramint	def,
		const paramdescr &	descr = `paramdescr()`
	)

inlinevirtual

void configurableChanged ( )

virtual

Indicates that the configurable itself or the configurable children attached to this configurable have changed.

This method must be called manually so that the Configurator GUI can react at the changes. This is done through the callbackable interface (using CallbackableType CALLBACK_CONFIGURABLE_CHANGED).

void copyParameters	(	const Configurable &	c,
		bool	traverseChildren = `true`
	)

protected

copies the internal params of the given configurable

std::list< Configurable::paramkey > getAllParamNames ( bool traverseChildren = true )

virtual

returns all names that are configureable

const Configurable::configurableList & getConfigurables ( ) const

virtual

Returns the list containing all configurable children.

int getId ( ) const

inline

return the id of the configurable objects, which is created by random on initialisation

virtual paramkey getName ( ) const

inlinevirtual

return the name of the object

Reimplemented in Arm, Elman, and InvertNChannelController.

Configurable::paramval getParam	(	const paramkey &	key,
		bool	traverseChildren = `true`
	)		const

virtual

returns the value of the requested parameter or 0 (+ error message to stderr) if unknown.

Reimplemented in MyRobot.

Examples:: integration/main.cpp.

virtual paramboolmap getParamBoolMap ( ) const

inlinevirtual

Configurable::paramdescr getParamDescr	(	const paramkey &	key,
		bool	traverseChildren = `true`
	)		const

virtual

returns the description for the given parameter

Configurable::paramintBounds getParamintBounds	(	const paramkey &	key,
		bool	traverseChildren = `true`
	)		const

virtual

virtual paramintmap getParamIntMap ( ) const

inlinevirtual

virtual paramlist getParamList ( ) const

inlinevirtual

The list of all parameters with there value as allocated lists.

Note that these are only parameters that are managed manually (with setParam, getParam)

See Also: getAllParamNames()

Returns: list of key-value pairs

Reimplemented in use_java_controller, and MyRobot.

Configurable::paramvalBounds getParamvalBounds	(	const paramkey &	key,
		bool	traverseChildren = `true`
	)		const

virtual

virtual parammap getParamValMap ( ) const

inlinevirtual

virtual paramkey getRevision ( ) const

inlinevirtual

returns the revision of the object

bool hasParam	(	const paramkey &	key,
		bool	traverseChildren = `true`
	)		const

virtual

Returns if the requested parameter is part of the configurable or their children.

Parameters

key	to search for

Returns: true if key found, otherwise false

bool hasParamDescr	(	const paramkey &	key,
		bool	traverseChildren = `true`
	)		const

virtual

bool hasParamintBounds	(	const paramkey &	key,
		bool	traverseChildren = `true`
	)		const

virtual

bool hasParamvalBounds	(	const paramkey &	key,
		bool	traverseChildren = `true`
	)		const

virtual

virtual void notifyOnChange ( const paramkey & key )

inlinevirtual

Is called when a parameter was changes via setParam().

Note that it is not called of parameters of childs are changed, then there notifyOnChange() method is called. The key and of the changed parameter (use getParam() to retrieve its actual value). Overload this function when special actions have to be taken on parameter changes.

Reimplemented in Skeleton, Arm, Hexapod, Hand, Sphererobot3Masses, PullToPointOperator, Schlange, VierBeiner, DefaultCaterPillar, SliderWheelie, AbstractIAFController, Uwo, RobotChain, MultiReinforce, DerPseudoSensor, DerBigController, HurlingSnake, SchlangeServo, SchlangeServo2, CaterPillar, ClassicReinforce, FFNNController, and OdeConfig.

bool parse	(	FILE *	f,
		const char *	prefix = `0`,
		bool	traverseChildren = `true`
	)

parses the configuration from the given file

void print	(	FILE *	f,
		const char *	prefix,
		int	columns = `90`,
		bool	traverseChildren = `true`
	)		const

prints the keys, values and descriptions to the file. Each line is prefixed

Examples:: directconnect/directconnect.cpp.

void printdescr	(	FILE *	f,
		const char *	prefix,
		const paramkey &	key,
		int	columns,
		int	indent
	)		const

protected

void removeConfigurable ( Configurable * conf )

virtual

Removes a configurable as a child object.

Parameters

conf	the instance to remove

bool restoreCfg ( const char * filenamestem )

virtual

restores the key values paires from the file : filenamestem.cfg

void setName	(	const paramkey &	name,
		bool	callSetNameOfInspectable = `true`
	)

virtual

Sets the name of the configurable.

Parameters

name	the name to set
callSetNameOfInspectable	if true and if this instance is also inspectable, call automatically setNameOfInspectable(name).

bool setParam	(	const paramkey &	key,
		paramval	val,
		bool	traverseChildren = `true`
	)

virtual

sets the value of the given parameter or does nothing if unknown.

Reimplemented in MyRobot.

Examples:: directconnect/directconnect.cpp, and integration/main.cpp.

void setParamBounds	(	const paramkey &	key,
		paramval	minBound,
		paramval	maxBound,
		bool	traverseChildren = `true`
	)

virtual

Sets the bounds (minBound and maxBound) of the given parameter.

Not useful for parambool. If minBound=maxBound, it is threated as that no bound is given.

void setParamBounds	(	const paramkey &	key,
		paramint	minBound,
		paramint	maxBound,
		bool	traverseChildren = `true`
	)

virtual

void setParamBounds	(	const paramkey &	key,
		paramvalBounds	bounds,
		bool	traverseChildren = `true`
	)

virtual

void setParamBounds	(	const paramkey &	key,
		paramintBounds	bounds,
		bool	traverseChildren = `true`
	)

virtual

void setParamDescr	(	const paramkey &	key,
		const paramdescr &	descr,
		bool	traverseChildren = `true`
	)

virtual

sets a description for the given parameter

virtual void setRevision ( const paramkey & revision )

inlinevirtual

sets the revision Hint: { return "$ID$"; }

bool storeCfg	(	const char *	filenamestem,
		const std::list< std::string > &	comments = `std::list<std::string>()`
	)

virtual

stores the key values paires into the file : filenamestem.cfg including the comments given in the list

Member Data Documentation

const CallbackableType CALLBACK_CONFIGURABLE_CHANGED = 11

static

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation