AbstractWiring Class Reference

Abstract wiring-object between controller and robot. More...

#include <abstractwiring.h>

Inherits Inspectable.

Inherited by DerivativeWiring, FeedbackWiring, One2OneWiring, and WiringSequence.

Inheritance diagram for AbstractWiring:

[legend]Collaboration diagram for AbstractWiring:

[legend]List of all members.

Public Types
typedef double	sensor
typedef double	motor
Public Member Functions
	AbstractWiring (NoiseGenerator *noise)
	constructor
virtual	~AbstractWiring ()
	destructor
virtual bool	init (int robotsensornumber, int robotmotornumber, RandGen *randGen=0)=0
	Initializes the number of sensors and motors from robot (to be precise the internal parameters rsensornumber and rmotornumber!), calculates the number of sensors and motors on controller side.
virtual bool	wireSensors (const sensor *rsensors, int rsensornumber, sensor *csensors, int csensornumber, double noise)=0
	Realizes wiring from robot sensors to controller sensors.
virtual bool	wireMotors (motor *rmotors, int rmotornumber, const motor *cmotors, int cmotornumber)=0
	Realizes wiring from controller motor outputs to robot motors.
virtual int	getRobotSensornumber ()
	Returns the number of sensors on robot side.
virtual int	getRobotMotornumber ()
	Returns the number of motors on robot side.
virtual int	getControllerSensornumber ()
	Returns the number of sensors on controller side.
virtual int	getControllerMotornumber ()
	Returns the number of motors on controller side.
virtual std::list< iparamkey >	getInternalParamNames () const
	Returns the list of the names of all internal parameters.
virtual std::list< iparamval >	getInternalParams () const
	Returns a list of the values of all internal parameters (in the order given by getInternalParamNames()).
Protected Attributes
int	rsensornumber
	number of sensors at robot side
int	rmotornumber
	number of motors at robot side
int	csensornumber
	number of sensors at controller side
int	cmotornumber
	number of motors at controller side
NoiseGenerator *	noiseGenerator
	noise generator

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Detailed Description

Abstract wiring-object between controller and robot.

Implements wiring of robot sensors to inputs of the controller and controller outputs to robot motors.

Examples:

integration/main.cpp.

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Member Typedef Documentation

typedef double motor

typedef double sensor

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Constructor & Destructor Documentation

AbstractWiring

(

NoiseGenerator *

noise

)

[inline]

constructor

Parameters:

noise

NoiseGenerator that is used for adding noise to sensor values

virtual ~AbstractWiring

(

)

[inline, virtual]

destructor

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Member Function Documentation

virtual int getControllerMotornumber

(

)

[inline, virtual]

Returns the number of motors on controller side.

virtual int getControllerSensornumber

(

)

[inline, virtual]

Returns the number of sensors on controller side.

virtual std::list<iparamkey> getInternalParamNames

(

)

const [inline, virtual]

Returns the list of the names of all internal parameters.

Reimplemented from Inspectable.

Reimplemented in FeedbackWiring, and One2OneWiring.

virtual std::list<iparamval> getInternalParams

(

)

const [inline, virtual]

Returns a list of the values of all internal parameters (in the order given by getInternalParamNames()).

Reimplemented from Inspectable.

Reimplemented in FeedbackWiring, and One2OneWiring.

virtual int getRobotMotornumber

(

)

[inline, virtual]

Returns the number of motors on robot side.

virtual int getRobotSensornumber

(

)

[inline, virtual]

Returns the number of sensors on robot side.

virtual bool init	(	int	robotsensornumber,
		int	robotmotornumber,
		RandGen *	randGen = 0
	)			[pure virtual]

Initializes the number of sensors and motors from robot (to be precise the internal parameters rsensornumber and rmotornumber!), calculates the number of sensors and motors on controller side.

Must be overloaded to calculate and provide the appropriate numbers controllersensornumber (csensornumber), controllermotornumber (cmotornumber), robotsensornumber (rsensornumber) and robotmotornumber (rmotornumber),

Parameters:

randGen

pointer to random generator, if not given then a new one is created

Returns:

returns false on error, otherwise true

Implemented in DerivativeWiring, FeedbackWiring, One2OneWiring, SelectiveOne2OneWiring, and WiringSequence.

virtual bool wireMotors	(	motor *	rmotors,
		int	rmotornumber,
		const motor *	cmotors,
		int	cmotornumber
	)			[pure virtual]

Realizes wiring from controller motor outputs to robot motors.

Must be overloaded in order to implement the appropriate mapping.

Parameters:

	rmotors	pointer to array of motorvalues for robot
	rmotornumber	number of robot motors
	cmotors	pointer to array of motorvalues from controller
	cmotornumber	number of motorvalues from controller

Returns:

returns false if error, else true

Implemented in DerivativeWiring, FeedbackWiring, One2OneWiring, and WiringSequence.

virtual bool wireSensors	(	const sensor *	rsensors,
		int	rsensornumber,
		sensor *	csensors,
		int	csensornumber,
		double	noise
	)			[pure virtual]

Realizes wiring from robot sensors to controller sensors.

Must be overloaded in order to implement the appropriate mapping.

Parameters:

	rsensors	pointer to array of sensorvalues from robot
	rsensornumber	number of sensors from robot
	csensors	pointer to array of sensorvalues for controller
	csensornumber	number of sensors to controller
	noise	size of the noise added to the sensors

Returns:

returns false on error, otherwise true

Implemented in DerivativeWiring, FeedbackWiring, One2OneWiring, SelectiveOne2OneWiring, and WiringSequence.

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Member Data Documentation

int cmotornumber [protected]

number of motors at controller side

int csensornumber [protected]

number of sensors at controller side

NoiseGenerator* noiseGenerator [protected]

noise generator

int rmotornumber [protected]

number of motors at robot side

int rsensornumber [protected]

number of sensors at robot side

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

• abstractwiring.h

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