SineController Class Reference

class for robot control with sine and cosine More...

#include <sinecontroller.h>

Inherits AbstractController.

Inheritance diagram for SineController:

[legend]Collaboration diagram for SineController:

[legend]List of all members.

Public Member Functions
	SineController (int number_controlled=-1)
virtual void	init (int sensornumber, int motornumber, RandGen *randGen=0)
	initialisation of the controller with the given sensor/ motornumber Must be called before use.
virtual int	getSensorNumber () const
virtual int	getMotorNumber () const
virtual void	step (const sensor *sensors, int sensornumber, motor *motors, int motornumber)
	performs one step (includes learning).
virtual void	stepNoLearning (const sensor *, int number_sensors, motor *, int number_motors)
	performs one step without learning.
virtual std::list< iparamkey >	getInternalParamNames () const
	The list of the names of all internal parameters given by getInternalParams().
virtual std::list< iparamval >	getInternalParams () const
virtual paramval	getParam (const paramkey &key) const
virtual bool	setParam (const paramkey &key, paramval val)
virtual paramlist	getParamList () const
	The list of all parameters with there value as allocated lists.
virtual bool	store (FILE *f) const
virtual bool	restore (FILE *f)
Protected Attributes
int	t
std::string	name
int	number_sensors
int	number_motors
int	number_controlled
paramval	sineRate
paramval	phaseShift

---

Detailed Description

class for robot control with sine and cosine

---

Constructor & Destructor Documentation

SineController

(

int

number_controlled = -1

)

---

Member Function Documentation

virtual std::list<iparamkey> 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 Inspectable.

virtual std::list<iparamval> getInternalParams

(

)

const [inline, virtual]

Returns:

: list of values

Reimplemented from Inspectable.

virtual int getMotorNumber

(

)

const [inline, virtual]

Returns:

Number of motors the controller was initialised with or 0 if not initialised

Implements AbstractController.

Configurable::paramval getParam

(

const paramkey &

key

)

const [virtual]

Configurable::paramlist getParamList

(

)

const [virtual]

The list of all parameters with there value as allocated lists.

Returns:

list of key-value pairs

Reimplemented from Configurable.

virtual int getSensorNumber

(

)

const [inline, virtual]

Returns:

Number of sensors the controller was initialised with or 0 if not initialised

Implements AbstractController.

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

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

Implements AbstractController.

virtual bool restore

(

FILE *

f

)

[inline, virtual]

See also:

Storable

Implements Storeable.

bool setParam	(	const paramkey &	key,
		paramval	val
	)			[virtual]

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 AbstractController.

void stepNoLearning	(	const sensor *	,
		int	number_sensors,
		motor *	,
		int	number_motors
	)			[virtual]

performs one step without learning.

See also:

step

Implements AbstractController.

virtual bool store

(

FILE *

f

)

const [inline, virtual]

See also:

Storable

Implements Storeable.

---

Member Data Documentation

std::string name [protected]

Reimplemented from Configurable.

int number_controlled [protected]

int number_motors [protected]

int number_sensors [protected]

paramval phaseShift [protected]

paramval sineRate [protected]

int t [protected]

---

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

• sinecontroller.h
• sinecontroller.cpp

---