DerivativeWiring Class Reference

Implements a wiring (between controller and robot) which includes the first and second derivative of the original robot sensor values. More...

#include <derivativewiring.h>

Inherits AbstractWiring.

Inheritance diagram for DerivativeWiring:

[legend]Collaboration diagram for DerivativeWiring:

[legend]List of all members.

Public Member Functions
	DerivativeWiring (const DerivativeWiringConf &conf, NoiseGenerator *noise)
	constructor
virtual	~DerivativeWiring ()
	destructor
Static Public Member Functions
static DerivativeWiringConf	getDefaultConf ()
	Providing default configuration for DerivativeWiring with first derivative.
static DerivativeWiringConf	getDefaultConf1 ()
	Providing default configuration for DerivativeWiring for only first derivative.
Protected Member Functions
virtual bool	initIntern (int robotsensornumber, int robotmotornumber, RandGen *randGen=0)
	initializes the internal numbers of sensors and motors on robot side, calculate number of sensors and motors on controller side
virtual bool	wireSensorsIntern (const sensor *rsensors, int rsensornumber, sensor *csensors, int csensornumber, double noise)
	Realizes derivative wiring from robot sensors to controller sensors.
virtual bool	wireMotorsIntern (motor *rmotors, int rmotornumber, const motor *cmotors, int cmotornumber)
	Realizes wiring from controller motor outputs to robot motors.
void	calcFirstDerivative ()
	Calculate the first derivative of the sensorvalues given by the robot f'(x) = (f(x+1) - f(x-1)) / 2 since we do not have f(x+1) we go one timestep in the past.
void	calcSecondDerivative ()
	Calculate the secound derivative of the sensorvalues given by the robot f'(x) = f(x) - 2f(x-1) + f(x-2).
Protected Attributes
DerivativeWiringConf	conf
	used configuration
int	time
sensor *	sensorbuffer [buffersize]
	current and old smoothed sensor values of robot
sensor *	first
	current first derivative
sensor *	second
	current second derivative
motor *	blindMotors
	array that stored the values of the blind motors
Static Protected Attributes
static const int	buffersize = 40

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Detailed Description

Implements a wiring (between controller and robot) which includes the first and second derivative of the original robot sensor values.

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Constructor & Destructor Documentation

DerivativeWiring	(	const DerivativeWiringConf &	conf,
		NoiseGenerator *	noise
	)

constructor

Parameters:

	conf	for giving the wished configuration of DerivativeWiring via DerivativeWiringConf
	noise	NoiseGenerator that is used for adding noise to sensor values

~DerivativeWiring

(

)

[virtual]

destructor

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Member Function Documentation

void calcFirstDerivative

(

)

[protected]

Calculate the first derivative of the sensorvalues given by the robot f'(x) = (f(x+1) - f(x-1)) / 2 since we do not have f(x+1) we go one timestep in the past.

void calcSecondDerivative

(

)

[protected]

Calculate the secound derivative of the sensorvalues given by the robot f'(x) = f(x) - 2f(x-1) + f(x-2).

static DerivativeWiringConf getDefaultConf

(

)

[inline, static]

Providing default configuration for DerivativeWiring with first derivative.

No smoothing and no scaling. ( as static method )

static DerivativeWiringConf getDefaultConf1

(

)

[inline, static]

Providing default configuration for DerivativeWiring for only first derivative.

smoothing over 4 steps and scale of 5. Use smaller noise! ( as static method )

bool initIntern	(	int	robotsensornumber,
		int	robotmotornumber,
		RandGen *	randGen = 0
	)			[protected, virtual]

initializes the internal numbers of sensors and motors on robot side, calculate number of sensors and motors on controller side

Implements AbstractWiring.

bool wireMotorsIntern	(	motor *	rmotors,
		int	rmotornumber,
		const motor *	cmotors,
		int	cmotornumber
	)			[protected, virtual]

Realizes wiring from controller motor outputs to robot motors.

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

Implements AbstractWiring.

bool wireSensorsIntern	(	const sensor *	rsensors,
		int	rsensornumber,
		sensor *	csensors,
		int	csensornumber,
		double	noise
	)			[protected, virtual]

Realizes derivative wiring from robot sensors to controller sensors.

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

Implements AbstractWiring.

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Member Data Documentation

motor* blindMotors [protected]

array that stored the values of the blind motors

const int buffersize = 40 [static, protected]

DerivativeWiringConf conf [protected]

used configuration

sensor* first [protected]

current first derivative

sensor* second [protected]

current second derivative

sensor* sensorbuffer[buffersize] [protected]

current and old smoothed sensor values of robot

int time [protected]

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

• derivativewiring.h
• derivativewiring.cpp

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