WiringSequence Class Reference

Implements a sequence of wirings. More...

#include <wiringsequence.h>

Inherits AbstractWiring.

Inheritance diagram for WiringSequence:

[legend]Collaboration diagram for WiringSequence:

[legend]List of all members.

Public Member Functions
	WiringSequence (std::list< AbstractWiring * >)
	constructor: The wirings given in the list are applied in the sequence.
	WiringSequence (AbstractWiring *w1, AbstractWiring *w2)
	constructor provided for convinience, essentially calls addWiring(w1);addWiring(w2)
virtual	~WiringSequence ()
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 void	addWiring (AbstractWiring *wiring)
	adds a wiring to the list of wirings
Protected Attributes
std::vector< AbstractWiring * >	wirings
bool	initialised

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Detailed Description

Implements a sequence of wirings.

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Constructor & Destructor Documentation

WiringSequence

(

std::list< AbstractWiring * >

)

constructor: The wirings given in the list are applied in the sequence.

For the sensors in normal order and for the motors in reverse order

WiringSequence	(	AbstractWiring *	w1,
		AbstractWiring *	w2
	)

constructor provided for convinience, essentially calls addWiring(w1);addWiring(w2)

~WiringSequence

(

)

[virtual]

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Member Function Documentation

void addWiring

(

AbstractWiring *

wiring

)

[virtual]

adds a wiring to the list of wirings

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.

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

bool initialised [protected]

std::vector<AbstractWiring*> wirings [protected]

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

• wiringsequence.h
• wiringsequence.cpp

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