Implements a wiring where the motors are copied to several motors and the sensors are fusioned. More...

#include <copywiring.h>

Inheritance diagram for CopyWiring:

Collaboration diagram for CopyWiring:

Public Types
typedef std::vector< std::list < int > >	Assignment

Public Types inherited from AbstractWiring
enum	PlotTypes { Nothing =0, Robot =1, Controller =4, Noise =8 }

typedef double	sensor

typedef double	motor

Public Types inherited from Inspectable
typedef std::string	iparamkey

typedef double	iparamval

typedef std::pair< iparamkey, iparamval const * >	iparampair

typedef std::pair< iparamkey, std::pair< const matrix::Matrix *, bool > >	imatrixpair

typedef std::list< iparamkey >	iparamkeylist

typedef std::list< std::string >	infoLinesList

typedef std::list< iparamval >	iparamvallist

typedef std::list< iparamval const * >	iparamvalptrlist

typedef std::list< iparampair >	iparampairlist

typedef std::list< imatrixpair >	imatrixpairlist

typedef struct Inspectable::ILayer	ILayer

typedef struct Inspectable::IConnection	IConnection

typedef std::list< ILayer >	ilayerlist

typedef std::list< IConnection >	iconnectionlist

typedef std::list< const Inspectable * >	inspectableList

Public Member Functions
	CopyWiring (const Assignment &sensor_assignment, const Assignment &motor_assignment, NoiseGenerator *noise, int plotMode=Controller\|Robot, const std::string &name="CopyWiring")
	constructor More...

virtual	~CopyWiring ()
	destructor More...

virtual void	reset ()
	reset internal state More...

Public Member Functions inherited from AbstractWiring
	AbstractWiring (NoiseGenerator *noise, int plotMode=Controller, const std::string &name="AbstractWiring")
	constructor More...

virtual	~AbstractWiring ()
	destructor More...

virtual bool	init (int robotsensornumber, int robotmotornumber, RandGen *randGen=0)
	Initializes the number of sensors and motors from robot (to be precise the internal parameters rsensornumber and rmotornumber!), calculates the number of sensors and motors on controller side. More...

virtual bool	wireSensors (const sensor rsensors, int rsensornumber, sensor csensors, int csensornumber, double noiseStrength)
	Realizes wiring from robot sensors to controller sensors. More...

virtual bool	wireMotors (motor rmotors, int rmotornumber, const motor cmotors, int cmotornumber)
	Realizes wiring from controller motor outputs to robot motors. More...

virtual int	getRobotSensornumber ()
	Returns the number of sensors on robot side. More...

virtual int	getRobotMotornumber ()
	Returns the number of motors on robot side. More...

virtual int	getControllerSensornumber ()
	Returns the number of sensors on controller side. More...

virtual int	getControllerMotornumber ()
	Returns the number of motors on controller side. More...

virtual std::list < SensorMotorInfo >	wireSensorInfos (const std::list< SensorMotorInfo > &robotSensorInfos)
	routes the infos of the motors from robot to controller More...

virtual std::list < SensorMotorInfo >	wireMotorInfos (const std::list< SensorMotorInfo > &robotMotorInfos)
	routes the infos of the motors from robot to controller More...

void	addSensorMotorInfosToInspectable (const std::list< SensorMotorInfo > &robotSensorInfos, const std::list< SensorMotorInfo > &robotMotorInfos, const std::list< SensorMotorInfo > &controllerSensorInfos, const std::list< SensorMotorInfo > &controllerMotorInfos)
	used by WiredController to pass infos to inspectable More...

Public Member Functions inherited from Inspectable
	Inspectable (const iparamkey &name="")
	TYPEDEFS END. More...

virtual	~Inspectable ()

virtual iparamkeylist	getInternalParamNames () const
	The list of the names of all internal parameters given by getInternalParams(). More...

virtual iparamvallist	getInternalParams () const

virtual iparamvalptrlist	getInternalParamsPtr () const
	be careful: matrices will be ignored More...

virtual ilayerlist	getStructuralLayers () const
	Specifies which parameter vector forms a structural layer (in terms of a neural network) The ordering is important. More...

virtual iconnectionlist	getStructuralConnections () const
	Specifies which parameter matrix forms a connection between layers (in terms of a neural network) The orderning is not important. More...

virtual void	addInspectableValue (const iparamkey &key, iparamval const *val, const std::string &descr=std::string())
	This is the new style for adding inspectable values. More...

virtual void	addInspectableMatrix (const iparamkey &key, const matrix::Matrix *m, bool only4x4AndDiag=true, const std::string &descr=std::string())
	This is the new style for adding inspectable values. More...

virtual void	addInspectableDescription (const iparamkey &key, const std::string &descr)
	adds a description for the given parameter using info-lines The line will start (appart from the #I) with a D for description followed by the key end then followed by the string. More...

virtual void	addInfoLine (std::string infoLine)
	Adds an info line to this inspectable instance. More...

virtual void	addInfoLines (std::list< std::string > infoLineList)
	Adds a bunch of infolines with addInfoLine to this inspectable instance. More...

virtual void	removeInfoLines ()
	Removes all infolines from this inspectable instance. More...

virtual const infoLinesList &	getInfoLines () const
	Returns all infolines added to this inspectable instance. More...

virtual void	addInspectable (Inspectable *insp)
	Adds an inspectable as a child object. More...

virtual void	removeInspectable (Inspectable *insp)
	Removes an inspectable as a child object. More...

virtual void	setNameOfInspectable (const iparamkey &name)
	set the name of the inspectable More...

virtual const iparamkey	getNameOfInspectable () const
	return the name of the inspectable, getName() would conflict with Configurable::getName() too often More...

virtual const inspectableList &	getInspectables () const
	Returns the list containing all inspectable children. More...

Static Public Member Functions
static Assignment	motorFromSensorAssignment (const Assignment &sensor_assignment)
	returns the inverse Assignment of the given sensor assignemnt (typically the right thing) More...

Protected Member Functions
virtual bool	initIntern ()
	initializes the number of sensors and motors on robot side, calculate number of sensors and motors on controller side More...

virtual bool	wireSensorsIntern (const sensor rsensors, int rsensornumber, sensor csensors, int csensornumber, double noise)
	Realizes one to one wiring from robot sensors to controller sensors. More...

virtual bool	wireMotorsIntern (motor rmotors, int rmotornumber, const motor cmotors, int cmotornumber)
	Realizes one to one wiring from controller motor outputs to robot motors. More...

Protected Attributes
Assignment	s_assign

Assignment	m_assign

Protected Attributes inherited from AbstractWiring
int	plotMode
	using plotTypes this variables defines what is plotted More...

matrix::Matrix	mNoise
	for storing the noise values More...

sensor *	noisevals

int	noisenumber

int	rsensornumber
	number of sensors at robot side More...

matrix::Matrix	mRsensors
	copy of the last robot sensors More...

int	rmotornumber
	number of motors at robot side More...

matrix::Matrix	mRmotors
	copy of the last robot motors More...

int	csensornumber
	number of sensors at controller side More...

matrix::Matrix	mCsensors
	copy of the last controller sensors More...

int	cmotornumber
	number of motors at controller side More...

matrix::Matrix	mCmotors
	copy of the last controller motors More...

NoiseGenerator *	noiseGenerator
	noise generator More...

RandGen *	randGen
	random generator used in NoiseGenerator (in case it is needed by subclasses) More...

bool	initialised

Protected Attributes inherited from Inspectable
iparamkey	name

iparampairlist	mapOfValues

imatrixpairlist	mapOfMatrices

infoLinesList	infoLineStringList

Detailed Description

Implements a wiring where the motors are copied to several motors and the sensors are fusioned.

Member Typedef Documentation

typedef std::vector< std::list<int> > Assignment

Constructor & Destructor Documentation

CopyWiring	(	const Assignment &	sensor_assignment,
		const Assignment &	motor_assignment,
		NoiseGenerator *	noise,
		int	plotMode = `Controller\|Robot`,
		const std::string &	name = `"CopyWiring"`
	)

constructor

Parameters

sensor_assignment	for each controller sensor a list of robot sensor it is averaged over
motor_assignment	for each robot motor a list of controller motors it is averaged over
noise	NoiseGenerator that is used for adding noise to sensor values
plotMode	see AbstractWiring

~CopyWiring ( )

virtual

destructor

Member Function Documentation

bool initIntern ( )

protectedvirtual

initializes the number of sensors and motors on robot side, calculate number of sensors and motors on controller side

Implements AbstractWiring.

CopyWiring::Assignment motorFromSensorAssignment ( const Assignment & sensor_assignment )

static

returns the inverse Assignment of the given sensor assignemnt (typically the right thing)

void reset ( )

virtual

reset internal state

Reimplemented from AbstractWiring.

bool wireMotorsIntern	(	motor *	rmotors,
		int	rmotornumber,
		const motor *	cmotors,
		int	cmotornumber
	)

protectedvirtual

Realizes one to one wiring from controller motor outputs to robot motors.

Parameters

rmotors	pointer to array of motorvalues for robot
rmotornumber	number of robot motors
cmotors	pointer to array of motorvalues from controller
cmotornumber	number of motorvalues from controller

Implements AbstractWiring.

bool wireSensorsIntern	(	const sensor *	rsensors,
		int	rsensornumber,
		sensor *	csensors,
		int	csensornumber,
		double	noise
	)

protectedvirtual

Realizes one to one wiring from robot sensors to controller sensors.

Parameters

rsensors	pointer to array of sensorvalues from robot
rsensornumber	number of sensors from robot
csensors	pointer to array of sensorvalues for controller
csensornumber	number of sensors to controller
noise	size of the noise added to the sensors

Implements AbstractWiring.

Member Data Documentation

Assignment m_assign

protected

Assignment s_assign

protected

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation