AbstractMultiController Class Reference

Abstract class (interface) for using multiple controller. More...

#include <abstractmulticontroller.h>

Inherits AbstractControllerAdapter.

Inherited by OneActiveMultiPassiveController.

Inheritance diagram for AbstractMultiController:

[legend]Collaboration diagram for AbstractMultiController:

[legend]List of all members.


Public Member Functions
	AbstractMultiController (AbstractController *controller, std::string controllerName)
	contructor (hint: use $ID$ for revision)
virtual	~AbstractMultiController ()
virtual void	addPassiveController (AbstractController *passiveController, std::string name)
	Adds a passive controller to this MultiController.
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)=0
	performs one step (includes learning).
virtual void	stepNoLearning (const sensor sensors, int sensornumber, motor motors, int motornumber)=0
	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
std::list< AbstractController * >	controllerList
std::list< std::string >	controllerNameList

Detailed Description

Abstract class (interface) for using multiple controller.

A controller gets a number of input sensor values each timestep and has to generate a number of output motor values

This is an abstract class, it's useful for implementing multicontrollers such as the OneActiveMultiPassiveController, which can be used with all Controllers.

Any MulitController implementing this class should overwrite the methods step(...) and stepNoLearning(...).

Constructor & Destructor Documentation

AbstractMultiController	(	AbstractController *	controller,
		std::string	controllerName
	)			`[inline]`

contructor (hint: use $ID$ for revision)

virtual ~AbstractMultiController ( ) [inline, virtual]

Member Function Documentation

virtual void addPassiveController	(	AbstractController *	passiveController,
		std::string	name
	)			`[inline, virtual]`

Adds a passive controller to this MultiController.

If the Agent calls step(..) or stepNoLearning(..), the MultiController calls not only the active controllers step(...) but also the step(...) of all the passive controllers. (same for stepNoLearning(..) ).

Note: The initialisation of the MultiController with init(sensornumber, motornumber) must be called after all passive controllers are added, otherwise you must init the passive controller yourself (not recommended and can generate problems)

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 AbstractControllerAdapter.

Reimplemented in OneActiveMultiPassiveController.

virtual iparamvallist getInternalParams ( ) const [inline, virtual]

Returns:: : list of values

Reimplemented from AbstractControllerAdapter.

Reimplemented in OneActiveMultiPassiveController.

virtual void init	(	int	sensornumber,
		int	motornumber,
		RandGen *	randGen = `0`
	)			`[inline, 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 AbstractControllerAdapter.

Reimplemented in OneActiveMultiPassiveController.

virtual bool restore ( FILE * f ) [inline, virtual]

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

Reimplemented from AbstractControllerAdapter.

Reimplemented in OneActiveMultiPassiveController.

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