abstractcontrolleradapter.h

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/***************************************************************************
 *   Copyright (C) 2005 by Robot Group Leipzig                             *
 *    martius@informatik.uni-leipzig.de                                    *
 *    fhesse@informatik.uni-leipzig.de                                     *
 *    der@informatik.uni-leipzig.de                                        *
 *    frankguettler@gmx.de                                                 *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 *                                                                         *
 *   $Log: abstractcontrolleradapter.h,v $
 *   Revision 1.2  2008/04/17 14:54:44  martius
 *   randomGen added, which is a random generator with long period and an
 *    internal state. Each Agent has an instance and passed it to the controller
 *    and the wiring. This is good for
 *   a) repeatability on agent basis,
 *   b) parallel execution as done in ode_robots
 *
 *   Revision 1.1  2007/03/22 08:05:03  robot3
 *   this is an adapter class which implements all needed things. This class is
 *   used for example by the DiscreteControllerAdapter.
 *

 *                                                                         *
 ***************************************************************************/
#ifndef __ABSTRACTCONTROLLERADAPTER_H
#define __ABSTRACTCONTROLLERADAPTER_H

#include "abstractcontroller.h"

/**
 * Abstract adapter class (interface) for robot controller.
 * The controller gets a number of input sensor values each timestep
 *  and has to generate a number of output motor values.
 *
 * Interface assumes the following usage:
 *  - init() is called first to initialise the dimension of sensor- and motor space
 *  - each time step
 *     either step() or stepNoLearning() is called to ask the controller for motor values.
 *
 * This is an abstract adapter class, it's useful for implementing adapters such as the
 * DescreteController, which can be used with all Controllers.
 */
class AbstractControllerAdapter : public AbstractController {
public:

  /// contructor (hint: use $ID$ for revision)
        AbstractControllerAdapter(AbstractController* controller)
                : AbstractController(controller->getName(),controller->getRevision()), controller(controller) {}

        virtual ~AbstractControllerAdapter() {}

/****************************************************************************/
/*      AbstractControllerAdapter must implement the following classes:         */
/*      AbstractController, Configurable, Inspectable, Storeable                    */
/****************************************************************************/


/****************************************************************************/
/*      BEGIN methods of AbstractController                                     */
/****************************************************************************/

        /** initialisation of the controller with the given sensor/ motornumber
         * Must NORMALLY be called before use. For all ControllerAdapters
         * call first AbstractControllerAdapter::init(sensornumber,motornumber)
         * if you overwrite this method
         */
        virtual void init(int sensornumber, int motornumber, RandGen* randGen = 0){
                this->sensorNumber=sensornumber;
                this->motorNumber=motornumber;
                controller->init(sensornumber,motornumber);
        }

  /** @return Number of sensors the controller
      was initialised with or 0 if not initialised */
        virtual int getSensorNumber() const { return controller->getSensorNumber();}

  /** @return Number of motors the controller
      was initialised with or 0 if not initialised */
        virtual int getMotorNumber() const {return controller->getMotorNumber();}

  /** performs one step (includes learning).
      Calculates motor commands from sensor inputs.
        @param sensors sensors inputs scaled to [-1,1]
        @param sensornumber length of the sensor array
        @param motors motors outputs. MUST have enough space for motor values!
        @param motornumber length of the provided motor array
  */
        virtual void step(const sensor* sensors, int sensornumber,
                          motor* motors, int motornumber)
        { controller->step(sensors, sensornumber, motors,  motornumber); }

  /** performs one step without learning.
        @see step
  */
        virtual void stepNoLearning(const sensor* sensors , int sensornumber,
                                    motor* motors, int motornumber)
        { controller->stepNoLearning(sensors,sensornumber,motors,motornumber); }

/****************************************************************************/
/*      END methods of AbstractController                                           */
/****************************************************************************/

/****************************************************************************/
/*      BEGIN methods of Configurable                                           */
/****************************************************************************/



/****************************************************************************/
/*      END methods of Configurable                                                 */
/****************************************************************************/

/****************************************************************************/
/*      BEGIN methods of Inspectable                                            */
/****************************************************************************/

  /** 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.
        @return: list of keys
   */
        virtual iparamkeylist getInternalParamNames() const { return controller->getInternalParamNames();}

          /** @return: list of values
   */
        virtual iparamvallist getInternalParams() const { return controller->getInternalParams(); }

/****************************************************************************/
/*      END methods of Inspectable                                                  */
/****************************************************************************/



protected:
        AbstractController* controller; // the controller for the adapter to handle
        int sensorNumber; // number of sensors the controller has
        int motorNumber; // number of motors the controller has

};

#endif

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