class for robot controller that uses the georg's matrixlib for direct matrix inversion for n channels (simple one layer networks) More...

#include <invertmotornstep.h>

Inheritance diagram for InvertMotorNStep:

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Collaboration diagram for InvertMotorNStep:

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Public Member Functions
	InvertMotorNStep (const InvertMotorNStepConf &conf=getDefaultConf())

virtual void	init (int sensornumber, int motornumber, RandGen *randGen=0)
	initialisation of the controller with the given sensor/ motornumber Must be called before use. More...

virtual	~InvertMotorNStep ()

virtual int	getSensorNumber () const
	returns the number of sensors the controller was initialised with or 0 if not initialised More...

virtual int	getMotorNumber () const
	returns the mumber of motors the controller was initialised with or 0 if not initialised More...

virtual void	step (const sensor , int number_sensors, motor , int number_motors)
	performs one step (includes learning). More...

virtual void	stepNoLearning (const sensor , int number_sensors, motor , int number_motors)
	performs one step without learning. Calulates motor commands from sensor inputs. More...

virtual bool	store (FILE *f) const
	stores the controller values to a given file. More...

virtual bool	restore (FILE *f)
	loads the controller values from a given file. More...

virtual std::list< ILayer >	getStructuralLayers () const
	Specifies which parameter vector forms a structural layer (in terms of a neural network) The ordering is important. More...

virtual std::list< IConnection >	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	setMotorTeachingSignal (const motor *teaching, int len)
	The given motor teaching signal is used for this timestep. More...

virtual void	setSensorTeachingSignal (const sensor *teaching, int len)
	The given sensor teaching signal (distal learning) is used for this timestep. More...

void	getLastMotors (motor *motors, int len)

void	getLastSensors (sensor *sensors, int len)

virtual void	setMotorTeaching (const matrix::Matrix &teaching)
	The given motor teaching signal is used for this timestep. More...

virtual void	setSensorTeaching (const matrix::Matrix &teaching)
	The given sensor teaching signal (distal learning) is used for this timestep. More...

virtual matrix::Matrix	getLastMotorValues ()
	returns the last motor values (useful for cross motor coupling) More...

virtual matrix::Matrix	getLastSensorValues ()
	returns the last sensor values (useful for cross sensor coupling) More...

void	calcCandHUpdatesTeaching (matrix::Matrix &C_update, matrix::Matrix &H_update, int y_delay)
	calculates the Update for C and H using the teaching signal More...

virtual void	setReinforcement (double reinforcement)
	set the reinforcement signal for this timestep. More...

void	setSensorWeights (const matrix::Matrix &weights)
	sets the sensor channel weights (matrix should be (getSensorNumber() x 1) More...

matrix::Matrix	getSensorWeights () const

matrix::Matrix &	getC ()
	reference to C-matrix More...

double	getE () const

void	kwtaInhibition (matrix::Matrix &weightmatrix, unsigned int k, double damping)
	k-winner take all inhibition for synapses. More...

void	limitC (matrix::Matrix &weightmatrix, unsigned int rfSize)
	sets all connections to zero which are further away then rfSize from the diagonal. More...

Public Member Functions inherited from InvertMotorController
	InvertMotorController (unsigned short buffersize, const std::string &name, const std::string &revision)

Public Member Functions inherited from HomeokinBase
	HomeokinBase (unsigned short buffersize, const std::string &name, const std::string &revision)

Public Member Functions inherited from AbstractController
	AbstractController (const std::string &name, const std::string &revision)
	contructor (hint: use $ID$ for revision) More...

virtual void	motorBabblingStep (const sensor , int number_sensors, const motor , int number_motors)
	called in motor babbling phase. More...

virtual void	sensorInfos (std::list< SensorMotorInfo > sensorInfos)
	the controller is notified about the information on sensor. More...

virtual void	motorInfos (std::list< SensorMotorInfo > motorInfos)
	the controller is notified about the information on motors. More...

virtual int	SIdx (const std::string &name)
	returns the index of the sensor with the given name (if not found then 0 and all sensor names are printed) More...

virtual int	MIdx (const std::string &name)
	returns the index of the motor with the given name (if not found then 0 and all motor names are printed) More...

virtual SensorMotorInfo	SInfo (int index)
	returns the Information for the sensor with given index More...

virtual SensorMotorInfo	MInfo (int index)
	returns the Information for the motor with given index More...

Public Member Functions inherited from Configurable
	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...

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 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...

Public Member Functions inherited from Storeable
virtual	~Storeable ()

bool	storeToFile (const char *filename) const
	Provided for convenience. More...

bool	restoreFromFile (const char *filename)
	Provided for convenience. More...

Public Member Functions inherited from Teachable
virtual	~Teachable ()

Static Public Member Functions
static InvertMotorNStepConf	getDefaultConf ()

static double	clip095 (double x)

static double	regularizedInverse (double v)

Public Attributes
matrix::Matrix	A
	Model Matrix (motors to sensors) More...

matrix::Matrix	S
	additional Model Matrix (sensors to sensors) More...

matrix::Matrix	SD
	additional Model Matrix (sensors derivatives to sensors) More...

matrix::Matrix	C
	Controller Matrix. More...

matrix::Matrix	H
	Controller Bias. More...

matrix::Matrix	B
	Model Bias. More...

Protected Member Functions
virtual void	fillBuffersAndControl (const sensor x_, int number_sensors, motor y_, int number_motors)
	puts the sensors in the ringbuffer, generate controller values and put them in the More...

virtual void	calcEtaAndBufferIt (int delay)
	calculates the first shift into the motor space useing delayed motor values. More...

virtual void	calcXsi (int delay)
	calculates xsi for the current time step using the delayed y values More...

virtual void	learnController (int delay)
	learn H,C with motors y and corresponding sensors x More...

virtual void	calcCandHUpdates (matrix::Matrix &C_update, matrix::Matrix &H_update, int delay)
	calculates the Update for C and H More...

virtual void	updateCandH (const matrix::Matrix &C_update, const matrix::Matrix &H_update, double squashSize)
	updates the matrix C and H More...

virtual void	learnModel (int delay)
	learn A, (and S) using motors y and corresponding sensors x More...

virtual matrix::Matrix	model (const matrix::Matrix *x_buffer, int delay, const matrix::Matrix &y)
	calculates the predicted sensor values More...

virtual void	management ()
	handles inhibition damping etc. More...

virtual matrix::Matrix	calculateControllerValues (const matrix::Matrix &x_smooth)
	returns controller output for given sensor values More...

matrix::Matrix	calcDerivatives (const matrix::Matrix *buffer, int delay)
	Calculates first and second derivative and returns both in on matrix (above). More...

Protected Member Functions inherited from HomeokinBase
void	putInBuffer (matrix::Matrix *buffer, const matrix::Matrix &vec, int delay=0)
	put new value in ring buffer More...

virtual matrix::Matrix	calculateDelayedValues (const matrix::Matrix *buffer, int number_steps_of_delay_)
	calculate delayed values More...

virtual matrix::Matrix	calculateSmoothValues (const matrix::Matrix *buffer, int number_steps_for_averaging_)
	calculate time-smoothed values More...

virtual double	calcErrorFactor (const matrix::Matrix &e, bool loga, bool root)
	calculates the error_factor for either logarithmic (E=ln(e^Te)) or square (E=sqrt(e^te)) error More...

Protected Member Functions inherited from Configurable
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

Protected Attributes
unsigned short	number_sensors

unsigned short	number_motors

NoiseGenerator *	BNoiseGen
	Noisegenerator for noisy bias. More...

NoiseGenerator *	YNoiseGen
	Noisegenerator for noisy motor output. More...

matrix::Matrix	R
	C*A. More...

matrix::Matrix	SmallID
	small identity matrix in the dimension of R More...

matrix::Matrix	xsi
	current output error More...

matrix::Matrix	v
	current reconstructed error More...

double	E_val
	value of Error function More...

double	xsi_norm
	norm of matrix More...

double	xsi_norm_avg
	average norm of xsi (used to define whether Modell learns) More...

double	pain
	if the modelling error (xsi) is too high we have a pain signal More...

matrix::Matrix *	x_buffer

matrix::Matrix *	y_buffer

matrix::Matrix *	eta_buffer

matrix::Matrix	zero_eta

matrix::Matrix	x_smooth

matrix::Matrix	y_teaching
	teaching motor signal More...

bool	useTeaching
	flag whether there is an actual teachning signal or not More...

double	reinforcement
	reinforcement value (set via setReinforcement()) More...

double	reinforcefactor
	reinforcement factor (set to 1 every step after learning) More...

int	t_rand
	initial random time to avoid syncronous management of all controllers More...

matrix::Matrix	sensorweights
	sensor channel weight (each channel gets a certain importance) More...

double	continuity
	factor to teach for continuity: subsequent motor commands should not differ too much More...

double	modelCompliant
	learning factor for model (or sensor) compliant learning More...

int	managementInterval
	interval between subsequent management function calls More...

paramval	inhibition
	inhibition strength for sparce kwta strategy (is scaled with epsC) More...

paramval	kwta
	(int) number of synapses that get strengthend More...

paramval	limitRF
	(int) receptive field of motor neurons (number of offcenter sensors) if null then no limitation. Mutual exclusive with inhibition More...

paramval	dampS
	damping of S matrix More...

paramval	dampC
	damping of C matrix More...

paramval	activeExplore
	decides whether and how strong the backpropagated error is used as a control signal More...

paramval	cfactor

paramval	cnondiagabs

paramval	cdiagabs

paramval	noiseY
	noise strength for y More...

InvertMotorNStepConf	conf

Protected Attributes inherited from InvertMotorController
paramval	desens

paramval	steps
	number of timesteps is used for controller learning More...

paramval	zetaupdate

paramval	dampA
	damping term for model (0: no damping, 0.1 high damping) More...

parambool	relativeE
	if not 0: a relative error signal is used (xsi is normalised in respect to \|y\|) More...

paramval	adaptRate
	adaptation rate for learning rate adaptation More...

paramval	nomUpdate
	nominal update of controller in respect to matrix norm More...

paramval	noiseB
	size of the additional noise for model bias B More...

paramval	noiseY
	size of the additional noise for motor values More...

paramval	teacher
	factor for teaching signal More...

Protected Attributes inherited from HomeokinBase
paramval	epsC
	learning rate factor for controller learning More...

paramval	epsA
	learning rate factor for model learning More...

paramval	factorB
	additional learning rate factor for model bias More...

paramint	s4delay
	number of timesteps of delay in the SML More...

paramint	s4avg
	number of timesteps used for smoothing the controller output values More...

paramint	logaE
	logarithmic error is used for learning 1: controller 2: model 3: both More...

paramint	rootE
	root error is used for learning 1: controller 2: model 3: both More...

paramval	squashSize
	size of the box, where the parameter updates are clipped to More...

int	t

unsigned short	buffersize

bool	initialised

Protected Attributes inherited from AbstractController
std::map< std::string, int >	sensorIndexMap

std::map< std::string, int >	motorIndexMap

std::map< int, SensorMotorInfo >	sensorInfoMap

std::map< int, SensorMotorInfo >	motorInfoMap

Protected Attributes inherited from Inspectable
iparamkey	name

iparampairlist	mapOfValues

imatrixpairlist	mapOfMatrices

infoLinesList	infoLineStringList

Additional Inherited Members
Public Types inherited from AbstractController
typedef double	sensor

typedef double	motor

Public Types inherited from Configurable
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 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

Static Public Attributes inherited from Configurable
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...

Static Protected Member Functions inherited from HomeokinBase
static double	g (double z)
	neuron transfer function More...

Detailed Description

class for robot controller that uses the georg's matrixlib for direct matrix inversion for n channels (simple one layer networks)

Implements standart parameters: eps, rho, mu, stepnumber4avg, stepnumber4delay

Constructor & Destructor Documentation

InvertMotorNStep ( const InvertMotorNStepConf & conf = getDefaultConf() )

~InvertMotorNStep ( )

virtual

Member Function Documentation

void calcCandHUpdates	(	matrix::Matrix &	C_update,
		matrix::Matrix &	H_update,
		int	delay
	)

protectedvirtual

calculates the Update for C and H

void calcCandHUpdatesTeaching	(	matrix::Matrix &	C_update,
		matrix::Matrix &	H_update,
		int	y_delay
	)

calculates the Update for C and H using the teaching signal

Matrix calcDerivatives	(	const matrix::Matrix *	buffer,
		int	delay
	)

protected

Calculates first and second derivative and returns both in on matrix (above).

We use simple discrete approximations:

$f'(x) = (f(x) - f(x-1)) / 2$

$f''(x) = f(x) - 2f(x-1) + f(x-2)$

where we have to go into the past because we do not have f(x+1). The scaling can be neglegted.

void calcEtaAndBufferIt ( int delay )

protectedvirtual

calculates the first shift into the motor space useing delayed motor values.

calculates Eta which corrensponds to xsi_t which means eta_{t-1}

Matrix calculateControllerValues ( const matrix::Matrix & x_smooth )

protectedvirtual

returns controller output for given sensor values

calculate controller outputs

Parameters

x_smooth smoothed sensors Matrix(number_channels,1)

void calcXsi ( int delay )

protectedvirtual

calculates xsi for the current time step using the delayed y values

double clip095 ( double x )

static

void fillBuffersAndControl	(	const sensor *	x_,
		int	number_sensors,
		motor *	y_,
		int	number_motors
	)

protectedvirtual

puts the sensors in the ringbuffer, generate controller values and put them in the

matrix::Matrix& getC ( )

inline

reference to C-matrix

static InvertMotorNStepConf getDefaultConf ( )

inlinestatic

double getE ( ) const

inline

void getLastMotors	(	motor *	motors,
		int	len
	)

matrix::Matrix getLastMotorValues ( )

virtual

returns the last motor values (useful for cross motor coupling)

Implements Teachable.

void getLastSensors	(	sensor *	sensors,
		int	len
	)

matrix::Matrix getLastSensorValues ( )

virtual

returns the last sensor values (useful for cross sensor coupling)

Implements Teachable.

virtual int getMotorNumber ( ) const

inlinevirtual

returns the mumber of motors the controller was initialised with or 0 if not initialised

Implements AbstractController.

virtual int getSensorNumber ( ) const

inlinevirtual

returns the number of sensors the controller was initialised with or 0 if not initialised

Implements AbstractController.

matrix::Matrix getSensorWeights ( ) const

inline

list< Inspectable::IConnection > getStructuralConnections ( ) const

virtual

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

Returns: : list of layer names with dimension

Reimplemented from Inspectable.

list< Inspectable::ILayer > getStructuralLayers ( ) const

virtual

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

The first entry is the input layer and so on.

Returns: : list of layer names with dimension

Reimplemented from Inspectable.

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

virtual

initialisation of the controller with the given sensor/ motornumber Must be called before use.

The random generator is optional.

Implements AbstractController.

void kwtaInhibition	(	matrix::Matrix &	weightmatrix,
		unsigned int	k,
		double	damping
	)

k-winner take all inhibition for synapses.

k largest synapses are strengthed and the rest are inhibited. strong synapes are scaled by 1+(damping/k) and weak synapses are scaled by 1-(damping/(n-k)) where n is the number of synapes

Parameters

weightmatrix	reference to weight matrix. Synapses for a neuron are in one row. The inhibition is done for all rows independently
k	number of synapes to strengthen
damping	strength of supression and exitation (typically 0.001)

void learnController ( int delay )

protectedvirtual

learn H,C with motors y and corresponding sensors x

learn values H,C

void learnModel ( int delay )

protectedvirtual

learn A, (and S) using motors y and corresponding sensors x

void limitC	(	matrix::Matrix &	weightmatrix,
		unsigned int	rfSize
	)

sets all connections to zero which are further away then rfSize from the diagonal.

If rfSize == 1 then only main diagonal is left. If rfSize = 2: main diagonal and upper and lower side diagonal are kept and so on and so forth.

void management ( )

protectedvirtual

handles inhibition damping etc.

Matrix model	(	const matrix::Matrix *	x_buffer,
		int	delay,
		const matrix::Matrix &	y
	)

protectedvirtual

calculates the predicted sensor values

double regularizedInverse ( double v )

static

bool restore ( FILE * f )

virtual

loads the controller values from a given file.

Implements Storeable.

void setMotorTeaching ( const matrix::Matrix & teaching )

virtual

The given motor teaching signal is used for this timestep.

It is used as a feed forward teaching signal for the controller. Please note, that the teaching signal has to be given each timestep for a continuous teaching process.

Parameters

teaching matrix with dimensions (motornumber,1)

Implements Teachable.

void setMotorTeachingSignal	(	const motor *	teaching,
		int	len
	)

virtual

The given motor teaching signal is used for this timestep.

It is used as a feed forward teaching signal for the controller. Please note, that the teaching signal has to be given each timestep for a continuous teaching process.

void setReinforcement ( double reinforcement )

virtual

set the reinforcement signal for this timestep.

It is used to calculate a factor for the update. Factor = 1-0.95*reinforcement.

Parameters

reinforcement value between -1 and 1 (-1 bad, 0 neutral, 1 good)

void setSensorTeaching ( const matrix::Matrix & teaching )

virtual

The given sensor teaching signal (distal learning) is used for this timestep.

The belonging motor teachung signal is calculated by the inverse model. See setMotorTeaching

Parameters

teaching matrix with dimensions (motorsensors,1)

Implements Teachable.

void setSensorTeachingSignal	(	const sensor *	teaching,
		int	len
	)

virtual

The given sensor teaching signal (distal learning) is used for this timestep.

First the belonging motor teachung signal is calculated by the inverse model. See setMotorTeachingSignal

void setSensorWeights ( const matrix::Matrix & weights )

sets the sensor channel weights (matrix should be (getSensorNumber() x 1)

void step	(	const sensor *	x_,
		int	number_sensors,
		motor *	y_,
		int	number_motors
	)

virtual

performs one step (includes learning).

performs one step (includes learning). Calculates motor commands from sensor inputs.

Calulates motor commands from sensor inputs.

Implements AbstractController.

void stepNoLearning	(	const sensor *	x,
		int	number_sensors,
		motor *	y,
		int	number_motors
	)

virtual

performs one step without learning. Calulates motor commands from sensor inputs.

Implements AbstractController.

bool store ( FILE * f ) const

virtual

stores the controller values to a given file.

Implements Storeable.

void updateCandH	(	const matrix::Matrix &	C_update,
		const matrix::Matrix &	H_update,
		double	squashSize
	)

protectedvirtual

updates the matrix C and H

Member Data Documentation

matrix::Matrix A

Model Matrix (motors to sensors)

paramval activeExplore

protected

decides whether and how strong the backpropagated error is used as a control signal

matrix::Matrix B

Model Bias.

NoiseGenerator* BNoiseGen

protected

Noisegenerator for noisy bias.

matrix::Matrix C

Controller Matrix.

paramval cdiagabs

protected

paramval cfactor

protected

paramval cnondiagabs

protected

InvertMotorNStepConf conf

protected

double continuity

protected

factor to teach for continuity: subsequent motor commands should not differ too much

paramval dampC

protected

damping of C matrix

paramval dampS

protected

damping of S matrix

double E_val

protected

value of Error function

matrix::Matrix* eta_buffer

protected

matrix::Matrix H

Controller Bias.

paramval inhibition

protected

inhibition strength for sparce kwta strategy (is scaled with epsC)

paramval kwta

protected

(int) number of synapses that get strengthend

paramval limitRF

protected

(int) receptive field of motor neurons (number of offcenter sensors) if null then no limitation. Mutual exclusive with inhibition

int managementInterval

protected

interval between subsequent management function calls

double modelCompliant

protected

learning factor for model (or sensor) compliant learning

paramval noiseY

protected

noise strength for y

unsigned short number_motors

protected

unsigned short number_sensors

protected

double pain

protected

if the modelling error (xsi) is too high we have a pain signal

matrix::Matrix R

protected

C*A.

double reinforcefactor

protected

reinforcement factor (set to 1 every step after learning)

double reinforcement

protected

reinforcement value (set via setReinforcement())

matrix::Matrix S

additional Model Matrix (sensors to sensors)

matrix::Matrix SD

additional Model Matrix (sensors derivatives to sensors)

matrix::Matrix sensorweights

protected

sensor channel weight (each channel gets a certain importance)

matrix::Matrix SmallID

protected

small identity matrix in the dimension of R

int t_rand

protected

initial random time to avoid syncronous management of all controllers

bool useTeaching

protected

flag whether there is an actual teachning signal or not

matrix::Matrix v

protected

current reconstructed error

matrix::Matrix* x_buffer

protected

matrix::Matrix x_smooth

protected

matrix::Matrix xsi

protected

current output error

double xsi_norm

protected

norm of matrix

double xsi_norm_avg

protected

average norm of xsi (used to define whether Modell learns)

matrix::Matrix* y_buffer

protected

matrix::Matrix y_teaching

protected

teaching motor signal

NoiseGenerator* YNoiseGen

protected

Noisegenerator for noisy motor output.

matrix::Matrix zero_eta

protected

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

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation