One2OneWiring Class Reference

Implements one to one wireing of robot sensors to inputs of the controller and controller outputs to robot motors. More...

#include <one2onewiring.h>

Inherits AbstractWiring.

Inherited by SelectiveOne2OneWiring.

Inheritance diagram for One2OneWiring:

[legend]Collaboration diagram for One2OneWiring:

[legend]List of all members.

Public Member Functions
	One2OneWiring (NoiseGenerator *noise, bool plotNoise=false, int blind=0)
	constructor
virtual	~One2OneWiring ()
	destructor
virtual bool	init (int robotsensornumber, int robotmotornumber, RandGen *randGen=0)
	initializes the number of sensors and motors on robot side, calculate number of sensors and motors on controller side
virtual bool	wireSensors (const sensor *rsensors, int rsensornumber, sensor *csensors, int csensornumber, double noise)
	Realizes one to one wiring from robot sensors to controller sensors.
virtual bool	wireMotors (motor *rmotors, int rmotornumber, const motor *cmotors, int cmotornumber)
	Realizes one to one 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
	The list of the values of all internal parameters given by getInternalParams().
Protected Attributes
bool	plotNoise
	TRUE for plotting noise values, FALSE for not plotting.
sensor *	noisevals
	for storing the noise values
int	blind
motor *	blindmotors
	blind motor values

---

Detailed Description

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

Examples:

integration/main.cpp, and template_sphererobot/main.cpp.

---

Constructor & Destructor Documentation

One2OneWiring	(	NoiseGenerator *	noise,
		bool	plotNoise = false,
		int	blind = 0
	)

constructor

Parameters:

	noise	NoiseGenerator that is used for adding noise to sensor values
	plotNoise	for plotting the noise values (to observe it from outside via getInternalParams() and guilogger) set it TRUE, for not plotting the noise set it to FALSE.
	blind	number of blind channels (additional sensors and motors coupled directly)

~One2OneWiring

(

)

[virtual]

destructor

---

Member Function Documentation

Inspectable::iparamkeylist getInternalParamNames

(

)

const [virtual]

Returns the list of the names of all internal parameters.

Reimplemented from AbstractWiring.

Inspectable::iparamvallist getInternalParams

(

)

const [virtual]

The list of the values of all internal parameters given by getInternalParams().

(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 on robot side, calculate number of sensors and motors on controller side

Implements AbstractWiring.

Reimplemented in SelectiveOne2OneWiring.

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

Realizes one to one wiring from controller motor outputs to robot motors.

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

Implements AbstractWiring.

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

Realizes one to one wiring from robot sensors to controller sensors.

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

Implements AbstractWiring.

Reimplemented in SelectiveOne2OneWiring.

---

Member Data Documentation

int blind [protected]

motor* blindmotors [protected]

blind motor values

sensor* noisevals [protected]

for storing the noise values

bool plotNoise [protected]

TRUE for plotting noise values, FALSE for not plotting.

---

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

• one2onewiring.h
• one2onewiring.cpp

---