FeedbackWiring Class Reference

Implements essentionally a one to one wiring with feedback connections. More...

#include <feedbackwiring.h>

Inherits AbstractWiring.

Inheritance diagram for FeedbackWiring:

[legend]Collaboration diagram for FeedbackWiring:

[legend]List of all members.

Public Types
	Motor = 1
	Context = 2
	All = 3
enum	Mode { Motor = 1, Context = 2, All = 3 }
Public Member Functions
	FeedbackWiring (NoiseGenerator *noise, Mode mode=Context, double feedbackratio=0.9)
	constructor
virtual	~FeedbackWiring ()
virtual bool	init (int robotsensornumber, int robotmotornumber, RandGen *randGen=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)
	Realizes wiring from robot sensors to controller sensors.
virtual bool	wireMotors (motor *rmotors, int rmotornumber, const motor *cmotors, int cmotornumber)
	Realizes wiring from controller motor outputs to robot motors.
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()).
virtual matrix::Matrix	getFeedbackRatio () const
	return the feedback ratio vector
virtual void	setFeedbackRatio (const matrix::Matrix &)
	sets the feedback ratio vector.
Protected Attributes
Mode	mode
double	defaultfeedbackratio
matrix::Matrix	feedbackratio
motor *	motors
	array that stored the values of the motors
int	vmotornumber
sensor *	noisevals
	for storing the noise values
bool	initialised

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Detailed Description

Implements essentionally a one to one wiring with feedback connections.

The feedback connections from output to input is parameterised with a feedback strength. It is possible to generate virtual motors for context sensors.

In order to change the feedback strength use the following code after initialisation of the agent/wiredcontroller

    matrix::Matrix rs = wiring->getFeedbackRatio();
    double c=ratio;
    rs.toMapP(&c,constant);
    wiring->setFeedbackRatio(rs);

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Member Enumeration Documentation

enum Mode

Enumerator:

Motor
Context
All

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Constructor & Destructor Documentation

FeedbackWiring	(	NoiseGenerator *	noise,
		Mode	mode = Context,
		double	feedbackratio = 0.9
	)

constructor

Parameters:

	noise	NoiseGenerator that is used for adding noise to sensor values
	mode	Motor|Context|All: Motor: motor outputs send feedback; Context: virtual motor outputs for each context sensor with feedback
	feedbackratio	default ratio used to feed back the output to the input, meaning

~FeedbackWiring

(

)

[virtual]

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Member Function Documentation

matrix::Matrix getFeedbackRatio

(

)

const [virtual]

return the feedback ratio vector

Inspectable::iparamkeylist getInternalParamNames

(

)

const [virtual]

Returns the list of the names of all internal parameters.

Reimplemented from AbstractWiring.

Inspectable::iparamvallist getInternalParams

(

)

const [virtual]

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

Reimplemented from AbstractWiring.

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

Implements AbstractWiring.

void setFeedbackRatio

(

const matrix::Matrix &

)

[virtual]

sets the feedback ratio vector.

The size of the vector must be at least as large as feedbackratio

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

Implements AbstractWiring.

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

Implements AbstractWiring.

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Member Data Documentation

double defaultfeedbackratio [protected]

matrix::Matrix feedbackratio [protected]

bool initialised [protected]

Mode mode [protected]

motor* motors [protected]

array that stored the values of the motors

sensor* noisevals [protected]

for storing the noise values

int vmotornumber [protected]

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

• feedbackwiring.h
• feedbackwiring.cpp

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