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Robot Simulator of the Robotics Group for Self-Organization of Control
0.8.0
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Robot Simulator of the Robotics Group for Self-Organization of Control
0.8.0
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#include <sinecontroller.h>
Public Member Functions | |
| MultiSineController (unsigned long int controlmask=(~0), function func=Sine) | |
| 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 void | stepNoLearning (const sensor *, int number_sensors, motor *, int number_motors) |
| performs one step. More... | |
 Public Member Functions inherited from SineController | |
| SineController (unsigned long int controlmask=(~0), function func=Sine) | |
| virtual int | getSensorNumber () const |
| virtual int | getMotorNumber () const |
| virtual void | step (const sensor *sensors, int sensornumber, motor *motors, int motornumber) |
| performs one step ( the same as StepNoLearning). More... | |
| virtual bool | store (FILE *f) const |
| virtual bool | restore (FILE *f) |
| 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 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... | |
| 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... | |
Protected Attributes | |
| double * | periods |
| double * | phaseShifts |
| double * | amplitudes |
| double * | offsets |
| long | t |
| Protected Attributes inherited from SineController | |
| std::string | name |
| int | number_sensors |
| int | number_motors |
| unsigned long int | controlmask |
| bool | individual |
| paramval | period |
| paramval | phaseShift |
| paramval | impulsWidth |
| double | phase |
| paramval | amplitude |
| double(* | osci )(double x, double param) |
| 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 SineController | |
| enum | function { Sine, SawTooth, Impulse } |
| 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 Member Functions inherited from SineController | |
| static double | sine (double x, double _unused) |
| sine More... | |
| static double | sawtooth (double x, double _unused) |
| saw tooth shape oscillator More... | |
| static double | impuls (double x, double impulsWidth) |
| impuls shaped oscillator (+-1 for impulsWidth part of the time) More... | |
| 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... | |
| 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 |
| MultiSineController | ( | unsigned long int | controlmask = (~0), |
| function | func = Sine |
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| ) |
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initialisation of the controller with the given sensor/ motornumber Must be called before use.
Reimplemented from SineController.
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1.8.6 
