Implements essentionally a one to one wiring with feedback connections. More...

#include <feedbackwiring.h>

Inheritance diagram for FeedbackWiring:

Collaboration diagram for FeedbackWiring:

Public Types
enum	Mode { Motor =1, Context =2, All =3 }

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
	FeedbackWiring (NoiseGenerator *noise, Mode mode=Context, double feedbackratio=0.9, const std::string &name="FeedBackWiring")
	constructor More...

virtual	~FeedbackWiring ()

virtual std::list< iparamkey >	getInternalParamNames () const
	The list of the names of all internal parameters given by getInternalParams(). More...

virtual std::list< iparamval >	getInternalParams () const

virtual matrix::Matrix	getFeedbackRatio () const
	return the feedback ratio vector More...

virtual void	setFeedbackRatio (const matrix::Matrix &)
	sets the feedback ratio vector. 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...

virtual void	reset ()
	reset internal state 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 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...

Protected Member Functions
virtual bool	initIntern ()
	to be overloaded by subclasses The rsensornumber and rmotornumber are already stored in the member variables. More...

virtual bool	wireSensorsIntern (const sensor rsensors, int rsensornumber, sensor csensors, int csensornumber, double noise)
	to be overloaded by subclasses More...

virtual bool	wireMotorsIntern (motor rmotors, int rmotornumber, const motor cmotors, int cmotornumber)
	to be overloaded by subclasses More...

Protected Attributes
Mode	mode

double	defaultfeedbackratio

matrix::Matrix	feedbackratio

motor *	motors
	array that stored the values of the motors More...

int	vmotornumber

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 essentionally a one to one wiring with feedback connections.

The feedback connections from output to input are parameterised with a feedback strength. It is possible to generate virtual motors for context sensors.

In order to change the feedback strength after initialisation use the following code

matrix::Matrix rs = wiring->getFeedbackRatio();
double c=ratio;
rs.toMapP(&c,constant);
wiring->setFeedbackRatio(rs);

Member Enumeration Documentation

enum Mode

Enumerator
Motor
Context
All

Constructor & Destructor Documentation

FeedbackWiring	(	NoiseGenerator *	noise,
		Mode	mode = `Context`,
		double	feedbackratio = `0.9`,
		const std::string &	name = `"FeedBackWiring"`
	)

constructor

Parameters

noise	NoiseGenerator that is used for adding noise to sensor values
mode	Motor\|Context\|All: Motor: motor outputs send feedback; Context: virtual motor outputs for each context sensor with feedback
feedbackratio	default ratio used to feed back the output to the input, meaning $x_t = 0.1x_t + 0.9y_{t-1}$

~FeedbackWiring ( )

virtual

Member Function Documentation

matrix::Matrix getFeedbackRatio ( ) const

virtual

return the feedback ratio vector

Inspectable::iparamkeylist getInternalParamNames ( ) const

virtual

The list of the names of all internal parameters given by getInternalParams().

The naming convention is "v[i]" for vectors and "A[i][j]" for matrices, where i, j start at 0.

Returns: : list of keys

Reimplemented from Inspectable.

Inspectable::iparamvallist getInternalParams ( ) const

virtual

Returns: : list of values

Reimplemented from Inspectable.

bool initIntern ( )

protectedvirtual

to be overloaded by subclasses The rsensornumber and rmotornumber are already stored in the member variables.

The random values are to be accessed via the noiseGenerator.

See Also: init()

Implements AbstractWiring.

void setFeedbackRatio ( const matrix::Matrix & ratios )

virtual

sets the feedback ratio vector.

The size of the vector must be at least as large as getFeedbackRatio()

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

protectedvirtual

to be overloaded by subclasses

See Also: wireMotors()

Implements AbstractWiring.

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

protectedvirtual

to be overloaded by subclasses

See Also: wireSensors()

Implements AbstractWiring.

Member Data Documentation

double defaultfeedbackratio

protected

matrix::Matrix feedbackratio

protected

Mode mode

protected

motor* motors

protected

array that stored the values of the motors

int vmotornumber

protected

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation