OdeAgent Class Reference

Specialised agent for ode robots. More...

#include <odeagent.h>

Inheritance diagram for OdeAgent:

Collaboration diagram for OdeAgent:

Public Member Functions
	OdeAgent (const PlotOption &plotOption=PlotOption(NoPlot), double noisefactor=1, const std::string &name="OdeAgent", const std::string &revision="$ID$") __attribute__((deprecated))
	OdeAgent (const std::list< PlotOption > &plotOptions, double noisefactor=1, const std::string &name="OdeAgent", const std::string &revision="$ID$") __attribute__((deprecated))
	OdeAgent (const GlobalData &globalData, double noisefactor=1, const std::string &name="OdeAgent", const std::string &revision="")
	The plotoptions are taken from globaldata. More...
	OdeAgent (const GlobalData &globalData, const PlotOption &plotOption, double noisefactor=1, const std::string &name="OdeAgent", const std::string &revision="")
	Provided for convinience. More...
	OdeAgent (const GlobalData &globalData, const PlotOptionList &plotOptions, double noisefactor=1, const std::string &name="OdeAgent", const std::string &revision="")
	Provided for convinience. More...
virtual	~OdeAgent ()
virtual bool	init (AbstractController *controller, OdeRobot *robot, AbstractWiring *wiring, long int seed=0)
	initializes the object with the given controller, robot and wiring and initializes plotoptionengine More...
virtual void	step (double noise, double time)
	Performs an step of the agent, including sensor reading, pushing sensor values through the wiring, controller step, pushing controller outputs (= motorcommands) back through the wiring and sent resulting motorcommands to robot. More...
virtual void	stepOnlyWiredController (double noise, double time)
	Special function for the class Simulation to seperate the step of the WiredController (plus TrackRobot) and the setting and getting of the motor- and sensorvalues. More...
virtual void	setMotorsGetSensors ()
	Special function for the class Simulation to seperate the step of the WiredController (plus TrackRobot) and the setting and getting of the motor- and sensorvalues. More...
virtual void	beforeStep (GlobalData &global)
	should be called before step() or stepOnlyWiredController() and calls operators and robot->sense() More...
virtual OdeRobot *	getRobot ()
	Returns a pointer to the robot. More...
virtual const OdeRobot *	getRobot () const
	Returns a const pointer to the robot. More...
virtual int	getTraceLength ()
virtual bool	setTraceLength (int tracelength)
virtual void	setTraceThickness (int tracethickness)
virtual void	addTracking (unsigned int primitiveIndex, const TrackRobot &trackrobot, const Color &color)
	adds tracking for individual primitives More...
virtual void	setTrackOptions (const TrackRobot &trackrobot)
	sets the trackoptions which starts spatial tracking of a robot More...
virtual bool	stopTracking ()
	stop tracking (returns true of tracking was on); More...
virtual bool	store (FILE *f) const
	stores the object to the given file stream (ASCII preferred). More...
virtual bool	restore (FILE *f)
	loads the object from the given file stream (ASCII preferred). More...
virtual void	addOperator (Operator *o, bool addToConfigurable=true)
	adds an operator to the agent (the operator is deleted on destruction of the agent!) More...
virtual bool	removeOperator (Operator *o)
	removes the given operator: it is not deleted (memory wise) More...
virtual void	removeOperators ()
	removes (and deletes) all operators More...
virtual void	fixateRobot (GlobalData &global, int primitiveID=-1, double time=0)
	fixates the given primitive of the robot at its current position to the world for a certain time. More...
virtual bool	unfixateRobot (GlobalData &global)
	release the robot in case it is fixated and turns true in this case More...
Public Member Functions inherited from Agent
	Agent (const PlotOption &plotOption=PlotOption(NoPlot), double noisefactor=1, const iparamkey &name="Agent", const paramkey &revision="$ID")
	constructor. More...
	Agent (const std::list< PlotOption > &plotOptions, double noisefactor=1, const iparamkey &name="Agent", const paramkey &revision="$ID")
	constructor. More...
virtual	~Agent ()
	destructor More...
virtual bool	init (AbstractController *controller, AbstractRobot *robot, AbstractWiring *wiring, long int seed=0)
	initializes the object with the given controller, robot and wiring and initializes the output options. More...
virtual void	onlyControlRobot ()
	Sends only last motor commands again to robot. More...
virtual TrackRobot	getTrackOptions () const
	returns the tracking options More...
Public Member Functions inherited from WiredController
	WiredController (const PlotOption &plotOption=PlotOption(NoPlot), double noisefactor=1, const iparamkey &name="WiredController", const paramkey &revision="$ID")
	constructor. More...
	WiredController (const std::list< PlotOption > &plotOptions, double noisefactor=1, const iparamkey &name="WiredController", const paramkey &revision="$ID")
	constructor. More...
virtual	~WiredController ()
	destructor More...
virtual bool	init (AbstractController *controller, AbstractWiring *wiring, int robotsensornumber, int robotmotornumber, const std::list< SensorMotorInfo > &robotSensorInfos, const std::list< SensorMotorInfo > &robotMotorInfos, RandGen *randGen=0)
	initializes the object with the given controller and wiring and initializes the output options It is also possible to provide a random seed, if not given (0) rand() is used to create one More...
virtual void	step (const sensor *sensors, int sensornumber, motor *motors, int motornumber, double noise, double time=-1)
	Performs an step of the controller, which includes pushing sensor values through the wiring, controller step, pushing controller outputs (= motorcommands) back through the wiring. More...
virtual void	startMotorBabblingMode (int steps, AbstractController *babblecontroller=0)
	Enables the motor babbling mode for given number of steps (typically 1000). More...
virtual AbstractController *	getMotorBabbler ()
virtual void	stopMotorBabblingMode ()
	stops the motor babbling mode. More...
virtual bool	getMotorBabblingMode ()
	returns true if in motorbabbling mode More...
virtual PlotOption	addPlotOption (PlotOption &plotoption)
	adds the PlotOptions to the list of plotoptions If a plotoption with the same Mode exists, then the old one is deleted first More...
virtual bool	addAndInitPlotOption (PlotOption &plotOption)
	adds a new PlotOption and initializes it More...
virtual bool	removePlotOption (PlotMode mode)
	removes the PlotOptions with the given type More...
virtual void	writePlotComment (const char *cmt, bool addSpace=true)
	write comment to output streams (PlotOptions). More...
virtual AbstractController *	getController ()
	Returns a pointer to the controller. More...
virtual const AbstractController *	getController () const
virtual AbstractWiring *	getWiring ()
	Returns a pointer to the wiring. 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 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 Storeable
virtual	~Storeable ()
bool	storeToFile (const char *filename) const
	Provided for convenience. More...
bool	restoreFromFile (const char *filename)
	Provided for convenience. More...

Protected Member Functions
virtual void	trace (GlobalData &global)
	continues the trace by one segment More...
Protected Member Functions inherited from WiredController
virtual void	plot (double time)
	Plots controller sensor- and motorvalues and internal controller parameters. More...
void	internInit ()
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

Additional Inherited Members
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 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
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 Attributes inherited from Agent
AbstractRobot *	robot
sensor *	rsensors
motor *	rmotors
RandGen	randGen
TrackRobot	trackrobot
int	t
Protected Attributes inherited from WiredController
AbstractController *	controller
AbstractWiring *	wiring
int	rsensornumber
	number of sensors of robot More...
int	rmotornumber
	number of motors of robot More...
int	csensornumber
	number of sensors of comntroller More...
int	cmotornumber
	number of motors of comntroller More...
double	noisefactor
	factor that is muliplied with noise stength More...
motor *	cmotors
sensor *	csensors
AbstractController *	motorBabbler
int	motorBabblingSteps
PlotOptionEngine	plotEngine
bool	initialised
std::list< Callbackable * >	callbackables
long int	t
Protected Attributes inherited from Inspectable
iparamkey	name
iparampairlist	mapOfValues
imatrixpairlist	mapOfMatrices
infoLinesList	infoLineStringList

Detailed Description

Specialised agent for ode robots.

Constructor & Destructor Documentation

OdeAgent	(	const PlotOption &	plotOption = PlotOption(NoPlot),
		double	noisefactor = 1,
		const std::string &	name = "OdeAgent",
		const std::string &	revision = "$ID$"
	)

Deprecated:

obsolete provide globaldata, see the other constructors

OdeAgent	(	const std::list< PlotOption > &	plotOptions,
		double	noisefactor = 1,
		const std::string &	name = "OdeAgent",
		const std::string &	revision = "$ID$"
	)

Deprecated:

obsolete provide globaldata, see the other constructors

OdeAgent	(	const GlobalData &	globalData,
		double	noisefactor = 1,
		const std::string &	name = "OdeAgent",
		const std::string &	revision = ""
	)

The plotoptions are taken from globaldata.

Parameters

noisefactor

factor for sensor noise for this agent

OdeAgent	(	const GlobalData &	globalData,
		const PlotOption &	plotOption,
		double	noisefactor = 1,
		const std::string &	name = "OdeAgent",
		const std::string &	revision = ""
	)

Provided for convinience.

A single plotoption is used as given by plotOption

OdeAgent	(	const GlobalData &	globalData,
		const PlotOptionList &	plotOptions,
		double	noisefactor = 1,
		const std::string &	name = "OdeAgent",
		const std::string &	revision = ""
	)

Provided for convinience.

The plotoptions are taken from the given plotOptions (and not from globaldata, if you wish to overwrite them)

~OdeAgent ( )

virtual

Member Function Documentation

void addOperator ( Operator *  o, bool  addToConfigurable = true  )

virtual

adds an operator to the agent (the operator is deleted on destruction of the agent!)

void addTracking ( unsigned int  primitiveIndex, const TrackRobot &  trackrobot, const Color &  color  )

virtual

adds tracking for individual primitives

void beforeStep ( GlobalData &  global )

virtual

should be called before step() or stepOnlyWiredController() and calls operators and robot->sense()

void fixateRobot ( GlobalData &  global, int  primitiveID = -1, double  time = 0  )

virtual

fixates the given primitive of the robot at its current position to the world for a certain time.

Hint: use getRobot()->moveToPosition() to get the robot relocated

Parameters

primitiveID	if -1 then the main primitive is used, otherwise the primitive with the given index
time	time to fixate in seconds (if ==0 then indefinite)

virtual OdeRobot* getRobot ( )

inlinevirtual

Returns a pointer to the robot.

Reimplemented from Agent.

virtual const OdeRobot* getRobot ( ) const

inlinevirtual

Returns a const pointer to the robot.

virtual int getTraceLength ( )

inlinevirtual

Deprecated:

use TrackRobot parameters

virtual bool init ( AbstractController *  controller, OdeRobot *  robot, AbstractWiring *  wiring, long int  seed = 0  )

inlinevirtual

initializes the object with the given controller, robot and wiring and initializes plotoptionengine

bool removeOperator ( Operator *  o )

virtual

removes the given operator: it is not deleted (memory wise)

Returns

true on success

void removeOperators ( )

virtual

removes (and deletes) all operators

bool restore ( FILE *  f )

virtual

loads the object from the given file stream (ASCII preferred).

Implements Storeable.

void setMotorsGetSensors ( )

virtual

Special function for the class Simulation to seperate the step of the WiredController (plus TrackRobot) and the setting and getting of the motor- and sensorvalues.

virtual bool setTraceLength ( int  tracelength )

inlinevirtual

Deprecated:

use TrackRobot parameters

virtual void setTraceThickness ( int  tracethickness )

inlinevirtual

Deprecated:

use TrackRobot parameters

void setTrackOptions ( const TrackRobot &  trackrobot )

virtual

sets the trackoptions which starts spatial tracking of a robot

Reimplemented from Agent.

void step ( double  noise, double  time  )

virtual

Performs an step of the agent, including sensor reading, pushing sensor values through the wiring, controller step, pushing controller outputs (= motorcommands) back through the wiring and sent resulting motorcommands to robot.

Parameters

noise	Noise strength.
time	(optional) current simulation time (used for logging)

Reimplemented from Agent.

void stepOnlyWiredController ( double  noise, double  time  )

virtual

Special function for the class Simulation to seperate the step of the WiredController (plus TrackRobot) and the setting and getting of the motor- and sensorvalues.

Parameters

noise

See Also

step()

Parameters

time

See Also

step()

bool stopTracking ( )

virtual

stop tracking (returns true of tracking was on);

Reimplemented from Agent.

bool store ( FILE *  f ) const

virtual

stores the object to the given file stream (ASCII preferred).

Implements Storeable.

void trace ( GlobalData &  global )

protectedvirtual

continues the trace by one segment

bool unfixateRobot ( GlobalData &  global )

virtual

release the robot in case it is fixated and turns true in this case

---

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

• odeagent.h
• odeagent.cpp