OneActiveMultiPassiveController Class Reference

class (interface) for using multiple controller, the first one is the active one, which generates motor values. More...

#include <oneactivemultipassivecontroller.h>

Inherits AbstractMultiController.

Inheritance diagram for OneActiveMultiPassiveController:

[legend]Collaboration diagram for OneActiveMultiPassiveController:

[legend]List of all members.

Public Member Functions
	OneActiveMultiPassiveController (AbstractController *controller, std::string controllerName)
	contructor (hint: use $ID$ for revision)
virtual	~OneActiveMultiPassiveController ()
virtual void	init (int sensornumber, int motornumber, RandGen *randGen=0)
	initialisation of the controller with the given sensor/ motornumber Must NORMALLY be called before use.
virtual void	step (const sensor *sensors, int sensornumber, motor *motors, int motornumber)
	performs one step (includes learning).
virtual void	stepNoLearning (const sensor *sensors, int sensornumber, motor *motors, int motornumber)
	performs one step without learning.
virtual iparamkeylist	getInternalParamNames () const
	The list of the names of all internal parameters given by getInternalParams().
virtual iparamvallist	getInternalParams () const
virtual bool	store (FILE *f) const
	stores the object to the given file stream (binary).
virtual bool	restore (FILE *f)
	loads the object from the given file stream (binary).
Protected Attributes
motor *	passiveMotors

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Detailed Description

class (interface) for using multiple controller, the first one is the active one, which generates motor values.

The other controllers are passive and cannot affect the motor values.

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Constructor & Destructor Documentation

OneActiveMultiPassiveController	(	AbstractController *	controller,
		std::string	controllerName
	)

contructor (hint: use $ID$ for revision)

~OneActiveMultiPassiveController

(

)

[virtual]

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Member Function Documentation

virtual iparamkeylist getInternalParamNames

(

)

const [inline, virtual]

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.

Returns:

: list of keys

Reimplemented from AbstractMultiController.

virtual iparamvallist getInternalParams

(

)

const [inline, virtual]

Returns:

: list of values

Reimplemented from AbstractMultiController.

void init	(	int	sensornumber,
		int	motornumber,
		RandGen *	randGen = 0
	)			[virtual]

initialisation of the controller with the given sensor/ motornumber Must NORMALLY be called before use.

For all multicontroller call first AbstractMultiController::init(sensornumber,motornumber) if you overwrite this method

Reimplemented from AbstractMultiController.

virtual bool restore

(

FILE *

f

)

[inline, virtual]

loads the object from the given file stream (binary).

Reimplemented from AbstractMultiController.

void step	(	const sensor *	sensors,
		int	sensornumber,
		motor *	motors,
		int	motornumber
	)			[virtual]

performs one step (includes learning).

Calculates motor commands from sensor inputs.

Parameters:

	sensors	sensors inputs scaled to [-1,1]
	sensornumber	length of the sensor array
	motors	motors outputs. MUST have enough space for motor values!
	motornumber	length of the provided motor array

Implements AbstractMultiController.

void stepNoLearning	(	const sensor *	sensors,
		int	sensornumber,
		motor *	motors,
		int	motornumber
	)			[virtual]

performs one step without learning.

See also:

step

Implements AbstractMultiController.

virtual bool store

(

FILE *

f

)

const [inline, virtual]

stores the object to the given file stream (binary).

Reimplemented from AbstractMultiController.

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Member Data Documentation

motor* passiveMotors [protected]

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

• oneactivemultipassivecontroller.h
• oneactivemultipassivecontroller.cpp

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