Deprivation Class Reference

robot controller for self-organized behaviour just like invertmotornstep, just that is enables us to execute the same motor commands for a long time More...

#include <deprivation.h>

Inherits InvertMotorNStep.

Inheritance diagram for Deprivation:

[legend]Collaboration diagram for Deprivation:

[legend]List of all members.

Public Types
typedef matrix::Matrix(*)	MotorCallback (const matrix::Matrix &y)
	is called with current motor values and returns new motor values
typedef void(*)	ControllerCallback (matrix::Matrix &C, matrix::Matrix &H)
	is called with current controller matrix C and bias H which can be alterned
Public Member Functions
	Deprivation (MotorCallback motorCallback, ControllerCallback controllerCallback=0, const InvertMotorNStepConf &conf=getDefaultConf())
virtual	~Deprivation ()
virtual void	setExternalControlMode (bool useExternal)
virtual bool	getExternalControlMode ()
Protected Member Functions
virtual void	learnController ()
	overloaded
virtual matrix::Matrix	calculateControllerValues (const Matrix &x_smooth)
	calculate controller outputs (only of nop external value is set)
Protected Attributes
bool	useExternal
MotorCallback	motorCallback
ControllerCallback	controllerCallback

---

Detailed Description

robot controller for self-organized behaviour just like invertmotornstep, just that is enables us to execute the same motor commands for a long time

---

Member Typedef Documentation

typedef void(*) ControllerCallback(matrix::Matrix &C, matrix::Matrix &H)

is called with current controller matrix C and bias H which can be alterned

typedef matrix::Matrix(*) MotorCallback(const matrix::Matrix &y)

is called with current motor values and returns new motor values

---

Constructor & Destructor Documentation

Deprivation	(	MotorCallback	motorCallback,
		ControllerCallback	controllerCallback = 0,
		const InvertMotorNStepConf &	conf = getDefaultConf()
	)			[inline]

virtual ~Deprivation

(

)

[inline, virtual]

---

Member Function Documentation

virtual matrix::Matrix calculateControllerValues

(

const Matrix &

x_smooth

)

[inline, protected, virtual]

calculate controller outputs (only of nop external value is set)

Parameters:

x_smooth

smoothed sensors Matrix(number_channels,1)

virtual bool getExternalControlMode

(

)

[inline, virtual]

virtual void learnController

(

)

[inline, protected, virtual]

overloaded

Reimplemented from InvertMotorNStep.

virtual void setExternalControlMode

(

bool

useExternal

)

[inline, virtual]

---

Member Data Documentation

ControllerCallback controllerCallback [protected]

MotorCallback motorCallback [protected]

bool useExternal [protected]

---

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

• deprivation.h

---