28 #ifndef WIREDCONTROLLER_H_
29 #define WIREDCONTROLLER_H_
79 int robotsensornumber,
int robotmotornumber,
80 const std::list<SensorMotorInfo>& robotSensorInfos,
81 const std::list<SensorMotorInfo>& robotMotorInfos,
96 virtual void step(
const sensor* sensors,
int sensornumber,
97 motor* motors,
int motornumber,
98 double noise,
double time=-1);
150 virtual void plot(
double time);
int cmotornumber
number of motors of comntroller
Definition: wiredcontroller.h:163
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 ...
Definition: wiredcontroller.cpp:80
PlotMode
Output mode for agent.
Definition: plotoption.h:40
virtual AbstractWiring * getWiring()
Returns a pointer to the wiring.
Definition: wiredcontroller.h:143
int motorBabblingSteps
Definition: wiredcontroller.h:175
Interface class for a class which wants to be callback on a certain action.
Definition: callbackable.h:39
bool initialised
Definition: wiredcontroller.h:179
std::string paramkey
Definition: configurable.h:85
Abstract class for robot controller (with some basic functionality).
Definition: abstractcontroller.h:46
int csensornumber
number of sensors of comntroller
Definition: wiredcontroller.h:161
motor * cmotors
Definition: wiredcontroller.h:168
virtual ~WiredController()
destructor
Definition: wiredcontroller.cpp:68
AbstractWiring * wiring
Definition: wiredcontroller.h:154
void internInit()
Definition: wiredcontroller.cpp:54
WiredController(const PlotOption &plotOption=PlotOption(NoPlot), double noisefactor=1, const iparamkey &name="WiredController", const paramkey &revision="$ID")
constructor.
Definition: wiredcontroller.cpp:43
double sensor
Definition: types.h:29
virtual void stopMotorBabblingMode()
stops the motor babbling mode.
Definition: wiredcontroller.h:110
iparamkey name
Definition: inspectable.h:251
Definition: plotoptionengine.h:38
random generator with 48bit integer arithmentic
Definition: randomgenerator.h:34
dummy (does nothing) is there for compatibility, might be removed later
Definition: plotoption.h:42
The WiredController contains a controller and a wiring, which connects the controller with the robot...
Definition: wiredcontroller.h:58
virtual bool getMotorBabblingMode()
returns true if in motorbabbling mode
Definition: wiredcontroller.h:112
Abstract wiring-object between controller and robot.
Definition: abstractwiring.h:39
std::string iparamkey
Definition: inspectable.h:53
virtual const AbstractController * getController() const
Definition: wiredcontroller.h:139
PlotOptionEngine plotEngine
Definition: wiredcontroller.h:177
virtual void plot(double time)
Plots controller sensor- and motorvalues and internal controller parameters.
Definition: wiredcontroller.cpp:155
virtual PlotOption addPlotOption(PlotOption &plotoption)
adds the PlotOptions to the list of plotoptions If a plotoption with the same Mode exists...
Definition: wiredcontroller.cpp:137
virtual void startMotorBabblingMode(int steps, AbstractController *babblecontroller=0)
Enables the motor babbling mode for given number of steps (typically 1000).
Definition: wiredcontroller.cpp:123
This class contains options for the use of an external plot utility like guilogger or neuronviz or ju...
Definition: plotoption.h:66
virtual bool addAndInitPlotOption(PlotOption &plotOption)
adds a new PlotOption and initializes it
Definition: wiredcontroller.cpp:141
Interface for inspectable objects.
Definition: inspectable.h:48
Abstact class for configurable objects.
Definition: configurable.h:81
int rsensornumber
number of sensors of robot
Definition: wiredcontroller.h:157
virtual void writePlotComment(const char *cmt, bool addSpace=true)
write comment to output streams (PlotOptions).
Definition: wiredcontroller.cpp:149
double motor
Definition: types.h:30
virtual AbstractController * getMotorBabbler()
Definition: wiredcontroller.h:107
AbstractController * controller
Definition: wiredcontroller.h:153
int rmotornumber
number of motors of robot
Definition: wiredcontroller.h:159
virtual bool removePlotOption(PlotMode mode)
removes the PlotOptions with the given type
Definition: wiredcontroller.cpp:145
double noisefactor
factor that is muliplied with noise stength
Definition: wiredcontroller.h:166
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...
Definition: wiredcontroller.cpp:165
sensor * csensors
Definition: wiredcontroller.h:169
virtual AbstractController * getController()
Returns a pointer to the controller.
Definition: wiredcontroller.h:138
AbstractController * motorBabbler
Definition: wiredcontroller.h:174
std::list< Callbackable * > callbackables
Definition: wiredcontroller.h:181
long int t
Definition: wiredcontroller.h:183