AbstractIAFController Class Reference

Abstract class (interface) for robot controller that uses an integrate and fire neuron model. More...

#include <abstractiafcontroller.h>

Inherits AbstractController.

Inheritance diagram for AbstractIAFController:

[legend]Collaboration diagram for AbstractIAFController:

[legend]List of all members.

Public Member Functions
	AbstractIAFController (const AbstractIAFControllerConf &conf=getDefaultConf())
virtual	~AbstractIAFController ()
virtual void	init (int sensornumber, int motornumber, RandGen *randGen=0)
	ABSTRACTCONTROLLER INTERFACE.
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 *sensors, int sensornumber, motor *motors, int motornumber)
	performs one step without learning.
virtual bool	store (FILE *f) const
	STORABLE INTERFACE.
virtual bool	restore (FILE *f)
	loads the object from the given file stream (binary).
virtual bool	setParam (const paramkey &key, paramval val)
	CONFIGURABLE INTERFACE.
Static Public Member Functions
static AbstractIAFControllerConf	getDefaultConf ()
Protected Member Functions
virtual void	forwardStep (const sensor *sensors, int number_sensors, motor *motors, int number_motors)
	makes a forward step (without any learning)
void	initMatrices ()
	inits the internal used matrices If you change something on dimensions, you should call this function.
Static Protected Member Functions
static double	toTristateWithProbability (void *r, double x)
	returns -1 if probability is to low, otherwise 1 for mapP
static double	toTristateWithThreshold (double x, double threshold)
	returns -1 if below -threshold, 0 if above -threshold and threshold, otherwise 1, for map2
static double	dampToZero (void *r, double x)
	damps the value, if <0, damp value is added if >0, damp value is subtracted and threshold, otherwise 1, for map2
static double	toZeroIfFired (double x, double fired)
static double	toValueIfFired (void *r, double x, double fired)
static double	toDualStateWithProbability (void *r, double x)
	returns 0 if probability is to low, otherwise 1 for mapP
static double	toDualStateWithThreshold (double x, double threshold)
	returns 0 if below threshold, otherwise 1, for map2
Protected Attributes
AbstractIAFControllerConf	conf
RandGen *	randG
bool	initialised
int	sensorNumber
int	motorNumber
double	range
matrix::Matrix	xI
matrix::Matrix	xO
matrix::Matrix	wI
matrix::Matrix	wO
matrix::Matrix	sumI
matrix::Matrix	sumO
matrix::Matrix	tI
matrix::Matrix	tO

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Detailed Description

Abstract class (interface) for robot controller that uses an integrate and fire neuron model.

Implements (assumes) that the sensor values are only 0 or 1. Implements standard configureable interface for some useful parameters like leakI and leakO (input and output layer)

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Constructor & Destructor Documentation

AbstractIAFController

(

const AbstractIAFControllerConf &

conf = getDefaultConf()

)

virtual ~AbstractIAFController

(

)

[inline, virtual]

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Member Function Documentation

static double dampToZero	(	void *	r,
		double	x
	)			[inline, static, protected]

damps the value, if <0, damp value is added if >0, damp value is subtracted and threshold, otherwise 1, for map2

void forwardStep	(	const sensor *	sensors,
		int	number_sensors,
		motor *	motors,
		int	number_motors
	)			[protected, virtual]

makes a forward step (without any learning)

static AbstractIAFControllerConf getDefaultConf

(

)

[inline, static]

virtual int getMotorNumber

(

)

const [inline, virtual]

Returns:

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

Implements AbstractController.

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]

ABSTRACTCONTROLLER INTERFACE.

Implements AbstractController.

void initMatrices

(

)

[protected]

inits the internal used matrices If you change something on dimensions, you should call this function.

Note:

that all learned weights are lost.

virtual bool restore

(

FILE *

f

)

[inline, virtual]

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

Implements Storeable.

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

CONFIGURABLE INTERFACE.

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 *	sensors,
		int	sensornumber,
		motor *	motors,
		int	motornumber
	)			[virtual]

performs one step without learning.

See also:

step

Implements AbstractController.

virtual bool store

(

FILE *

f

)

const [inline, virtual]

STORABLE INTERFACE.

Implements Storeable.

static double toDualStateWithProbability	(	void *	r,
		double	x
	)			[inline, static, protected]

returns 0 if probability is to low, otherwise 1 for mapP

static double toDualStateWithThreshold	(	double	x,
		double	threshold
	)			[inline, static, protected]

returns 0 if below threshold, otherwise 1, for map2

static double toTristateWithProbability	(	void *	r,
		double	x
	)			[inline, static, protected]

returns -1 if probability is to low, otherwise 1 for mapP

static double toTristateWithThreshold	(	double	x,
		double	threshold
	)			[inline, static, protected]

returns -1 if below -threshold, 0 if above -threshold and threshold, otherwise 1, for map2

static double toValueIfFired	(	void *	r,
		double	x,
		double	fired
	)			[inline, static, protected]

static double toZeroIfFired	(	double	x,
		double	fired
	)			[inline, static, protected]

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Member Data Documentation

AbstractIAFControllerConf conf [protected]

bool initialised [protected]

int motorNumber [protected]

RandGen* randG [protected]

double range [protected]

int sensorNumber [protected]

matrix::Matrix sumI [protected]

matrix::Matrix sumO [protected]

matrix::Matrix tI [protected]

matrix::Matrix tO [protected]

matrix::Matrix wI [protected]

matrix::Matrix wO [protected]

matrix::Matrix xI [protected]

matrix::Matrix xO [protected]

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

• abstractiafcontroller.h
• abstractiafcontroller.cpp

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