Discretesizable Class Reference

Abstact class for discretesizable controllers. More...

#include <discretesizable.h>

Inherits DiscreteControllerAdapter.

Inheritance diagram for Discretesizable:

[legend]Collaboration diagram for Discretesizable:

[legend]List of all members.

Public Member Functions
	Discretesizable (int intervalCount, boolean mapToInteger=true, double minSensorValue=-1.0, double maxSensorValue=1.0)
	Initializes the discretization.
virtual	~Discretesizable ()
void	step (const sensor *sensors, int sensornumber, motor *motors, int motornumber)
	performs one step (includes learning).
void	stepNoLearning (const sensor *sensors, int sensornumber, motor *motors, int motornumber)
	performs one step without learning.

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Detailed Description

Abstact class for discretesizable controllers.

Implements the methods step(...) and stepNoLearning(...) and defines the methods dStep(...) respectively dStepNoLearning(...), which are called from the implemented one.

Hint: Do not mistake dStep(...) for a method from the ODE.

Additionally the controller implementing this interface must give the range and intervalCount in the constructor of this interface for configuring the discretization correctly.

Note: This interface does only discretesize the sensor values.

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Constructor & Destructor Documentation

Discretesizable	(	int	intervalCount,
		boolean	mapToInteger = true,
		double	minSensorValue = -1.0,
		double	maxSensorValue = 1.0
	)

Initializes the discretization.

Parameters:

	intervalCount	sets the number of intervals
	mapToInteger	if true, all intervals are mapped to 0..(intervalCount-1)
	minSensorValue	is neccessary if the sensor range is not in [-1,1]
	maxSensorValue	is neccessary if the sensor range is not in [-1,1]

virtual ~Discretesizable

(

)

[inline, virtual]

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Member Function Documentation

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

performs one step (includes learning).

Calculates motor commands from sensor inputs.

Note:

This method cannot be overwritten, use

See also:

dStep instead.

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

Reimplemented from DiscreteControllerAdapter.

void stepNoLearning	(	const sensor *	sensors,
		int	sensornumber,
		motor *	motors,
		int	motornumber
	)			[inline, virtual]

performs one step without learning.

See also:

step

Note:

This method cannot be overwritten, use

See also:

dStepNoLearning instead.

Reimplemented from DiscreteControllerAdapter.

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

• discretesizable.h

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