FeedbackWiring Class Reference

Implements essentionally a one to one wiring with feedback connections. More...

#include <feedbackwiring.h>

Inherits AbstractWiring.

Inheritance diagram for FeedbackWiring:

[legend]Collaboration diagram for FeedbackWiring:

[legend]List of all members.

Public Types
	Motor = 1
	Context = 2
	All = 3
enum	Mode { Motor = 1, Context = 2, All = 3 }
Public Member Functions
	FeedbackWiring (NoiseGenerator *noise, Mode mode=Context, double feedbackratio=0.9)
	constructor
virtual	~FeedbackWiring ()
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 matrix::Matrix	getFeedbackRatio () const
	return the feedback ratio vector
virtual void	setFeedbackRatio (const matrix::Matrix &)
	sets the feedback ratio vector.
Protected Member Functions
virtual bool	initIntern (int robotsensornumber, int robotmotornumber, RandGen *randGen=0)
	to be overloaded by subclasses
virtual bool	wireSensorsIntern (const sensor *rsensors, int rsensornumber, sensor *csensors, int csensornumber, double noise)
	to be overloaded by subclasses
virtual bool	wireMotorsIntern (motor *rmotors, int rmotornumber, const motor *cmotors, int cmotornumber)
	to be overloaded by subclasses
Protected Attributes
Mode	mode
double	defaultfeedbackratio
matrix::Matrix	feedbackratio
motor *	motors
	array that stored the values of the motors
int	vmotornumber

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Detailed Description

Implements essentionally a one to one wiring with feedback connections.

The feedback connections from output to input are parameterised with a feedback strength. It is possible to generate virtual motors for context sensors.

In order to change the feedback strength after initialisation use the following code

    matrix::Matrix rs = wiring->getFeedbackRatio();
    double c=ratio;
    rs.toMapP(&c,constant);
    wiring->setFeedbackRatio(rs);

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Member Enumeration Documentation

enum Mode

Enumerator:

Motor
Context
All

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Constructor & Destructor Documentation

FeedbackWiring	(	NoiseGenerator *	noise,
		Mode	mode = Context,
		double	feedbackratio = 0.9
	)

constructor

Parameters:

	noise	NoiseGenerator that is used for adding noise to sensor values
	mode	Motor|Context|All: Motor: motor outputs send feedback; Context: virtual motor outputs for each context sensor with feedback
	feedbackratio	default ratio used to feed back the output to the input, meaning

~FeedbackWiring

(

)

[virtual]

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Member Function Documentation

matrix::Matrix getFeedbackRatio

(

)

const [virtual]

return the feedback ratio vector

Inspectable::iparamkeylist getInternalParamNames

(

)

const [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.

Inspectable::iparamvallist getInternalParams

(

)

const [virtual]

Returns:

: list of values

Reimplemented from Inspectable.

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

to be overloaded by subclasses

See also:

init()

Implements AbstractWiring.

void setFeedbackRatio

(

const matrix::Matrix &

)

[virtual]

sets the feedback ratio vector.

The size of the vector must be at least as large as getFeedbackRatio()

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

to be overloaded by subclasses

See also:

wireMotors()

Implements AbstractWiring.

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

to be overloaded by subclasses

See also:

wireSensors()

Implements AbstractWiring.

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Member Data Documentation

double defaultfeedbackratio [protected]

matrix::Matrix feedbackratio [protected]

Mode mode [protected]

motor* motors [protected]

array that stored the values of the motors

int vmotornumber [protected]

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

• feedbackwiring.h
• feedbackwiring.cpp

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