FFNNController Class Reference

class for robot controller with a fixed neural network More...

#include <ffnncontroller.h>

Inherits AbstractController.

Inheritance diagram for FFNNController:

[legend]Collaboration diagram for FFNNController:

[legend]List of all members.

Public Member Functions
	FFNNController (const std::string &networkfilename, int history, bool input_only_x, unsigned int init_wait=0)
	FFNNController (MultiLayerFFNN *net, int history, bool input_only_x, unsigned int init_wait=0)
virtual void	init (int sensornumber, int motornumber, RandGen *randGen=0)
	initialisation of the controller with the given sensor/ motornumber Must be called before use.
virtual	~FFNNController ()
virtual int	getSensorNumber () const
	returns the number of sensors the controller was initialised with or 0 if not initialised
virtual int	getMotorNumber () const
	returns the mumber of motors the controller was initialised with or 0 if not initialised
virtual void	step (const sensor *, int number_sensors, motor *, int number_motors)
	performs one step (includes learning).
virtual void	stepNoLearning (const sensor *, int number_sensors, motor *, int number_motors)
	performs one step without learning.
virtual bool	store (FILE *f) const
	stores the controller values to a given file (binary).
virtual bool	restore (FILE *f)
	loads the controller values from a given file (binary).
virtual std::list< iparamkey >	getInternalParamNames () const
	The list of the names of all internal parameters given by getInternalParams().
virtual std::list< iparamval >	getInternalParams () const
virtual paramval	getParam (const paramkey &key) const
virtual bool	setParam (const paramkey &key, paramval val)
virtual paramlist	getParamList () const
	The list of all parameters with there value as allocated lists.
Protected Member Functions
void	putInBuffer (matrix::Matrix *buffer, const matrix::Matrix &vec, int delay=0)
matrix::Matrix	calculateSmoothValues (const matrix::Matrix *buffer, int number_steps_for_averaging_) const
	calculate time-smoothed values
virtual matrix::Matrix	assembleNetworkInputXY (matrix::Matrix *xbuffer, matrix::Matrix *ybuffer) const
virtual matrix::Matrix	assembleNetworkInputX (matrix::Matrix *xbuffer, matrix::Matrix *ybuffer) const
virtual matrix::Matrix	assembleNetworkOutput (const matrix::Matrix &output) const
Protected Attributes
unsigned short	number_motors
unsigned short	number_sensors
unsigned short	history
unsigned short	buffersize
bool	input_only_x
unsigned short	s4avg
unsigned int	t
unsigned int	init_wait
matrix::Matrix *	x_buffer
matrix::Matrix *	y_buffer
matrix::Matrix	x_smooth
MultiLayerFFNN *	net
bool	initialised

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Detailed Description

class for robot controller with a fixed neural network

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Constructor & Destructor Documentation

FFNNController	(	const std::string &	networkfilename,
		int	history,
		bool	input_only_x,
		unsigned int	init_wait = 0
	)

Parameters:

	networkfilename	file to load the network
	history	number of time steps the network gets input (in sense of dimension of input)
	input_only_x	if true then the input vector is if false then also the y values are used:
	init_wait	number of timesteps to wait before controlling

FFNNController	(	MultiLayerFFNN *	net,
		int	history,
		bool	input_only_x,
		unsigned int	init_wait = 0
	)

Parameters:

	net	pointer to network (it must have the right dimensions)
	history	number of time steps the network gets input (in sense of dimension of input)
	input_only_x	if true then the input vector is if false then also the y values are used:
	init_wait	number of timesteps to wait before controlling

~FFNNController

(

)

[virtual]

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Member Function Documentation

matrix::Matrix assembleNetworkInputX	(	matrix::Matrix *	xbuffer,
		matrix::Matrix *	ybuffer
	)			const [protected, virtual]

matrix::Matrix assembleNetworkInputXY	(	matrix::Matrix *	xbuffer,
		matrix::Matrix *	ybuffer
	)			const [protected, virtual]

matrix::Matrix assembleNetworkOutput

(

const matrix::Matrix &

output

)

const [protected, virtual]

matrix::Matrix calculateSmoothValues	(	const matrix::Matrix *	buffer,
		int	number_steps_for_averaging_
	)			const [protected]

calculate time-smoothed values

virtual std::list<iparamkey> 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 Inspectable.

virtual std::list<iparamval> getInternalParams

(

)

const [inline, virtual]

Returns:

: list of values

Reimplemented from Inspectable.

virtual int getMotorNumber

(

)

const [inline, virtual]

returns the mumber of motors the controller was initialised with or 0 if not initialised

Implements AbstractController.

Configurable::paramval getParam

(

const paramkey &

key

)

const [virtual]

Configurable::paramlist getParamList

(

)

const [virtual]

The list of all parameters with there value as allocated lists.

Note that these are only parameters that are managed manually (with setParam, getParam)

See also:

getAllParamNames()

Returns:

list of key-value pairs

Reimplemented from Configurable.

virtual int getSensorNumber

(

)

const [inline, virtual]

returns the 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]

initialisation of the controller with the given sensor/ motornumber Must be called before use.

The random generator is optional.

Implements AbstractController.

void putInBuffer	(	matrix::Matrix *	buffer,
		const matrix::Matrix &	vec,
		int	delay = 0
	)			[protected]

bool restore

(

FILE *

f

)

[virtual]

loads the controller values from a given file (binary).

Implements Storeable.

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

void step	(	const sensor *	,
		int	number_sensors,
		motor *	,
		int	number_motors
	)			[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 *	,
		int	number_sensors,
		motor *	,
		int	number_motors
	)			[virtual]

performs one step without learning.

See also:

step

Implements AbstractController.

bool store

(

FILE *

f

)

const [virtual]

stores the controller values to a given file (binary).

Implements Storeable.

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Member Data Documentation

unsigned short buffersize [protected]

unsigned short history [protected]

unsigned int init_wait [protected]

bool initialised [protected]

bool input_only_x [protected]

MultiLayerFFNN* net [protected]

unsigned short number_motors [protected]

unsigned short number_sensors [protected]

unsigned short s4avg [protected]

unsigned int t [protected]

matrix::Matrix* x_buffer [protected]

matrix::Matrix x_smooth [protected]

matrix::Matrix* y_buffer [protected]

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

• ffnncontroller.h
• ffnncontroller.cpp

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