InvertMotorController Class Reference

Extended HomeokinBase class (still abstract) for robot controller work in motorspace and use possibly many steps and adaptive learning rate. More...

#include <invertmotorcontroller.h>

Inherits HomeokinBase.

Inherited by BasicController, InvertMotorBigModel, InvertMotorNStep, and InvertMotorSpace.

Inheritance diagram for InvertMotorController:

[legend]Collaboration diagram for InvertMotorController:

[legend]List of all members.

Public Member Functions
	InvertMotorController (unsigned short buffersize, const std::string &name, const std::string &revision)
Protected Attributes
paramval	desens
paramval	steps
	number of timesteps is used for controller learning
paramval	zetaupdate
paramval	dampA
	damping term for model (0: no damping, 0.1 high damping)
parambool	relativeE
	if not 0: a relative error signal is used (xsi is normalised in respect to |y|)
paramval	adaptRate
	adaptation rate for learning rate adaptation
paramval	nomUpdate
	nominal update of controller in respect to matrix norm
paramval	noiseB
	size of the additional noise for model bias B
paramval	noiseY
	size of the additional noise for motor values
paramval	teacher
	factor for teaching signal

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Detailed Description

Extended HomeokinBase class (still abstract) for robot controller work in motorspace and use possibly many steps and adaptive learning rate.

Parameters like dampA, adaptrate, noiseY...

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Constructor & Destructor Documentation

InvertMotorController	(	unsigned short	buffersize,
		const std::string &	name,
		const std::string &	revision
	)			[inline]

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Member Data Documentation

paramval adaptRate [protected]

adaptation rate for learning rate adaptation

paramval dampA [protected]

damping term for model (0: no damping, 0.1 high damping)

paramval desens [protected]

paramval noiseB [protected]

size of the additional noise for model bias B

paramval noiseY [protected]

size of the additional noise for motor values

Reimplemented in InvertMotorNStep.

paramval nomUpdate [protected]

nominal update of controller in respect to matrix norm

parambool relativeE [protected]

if not 0: a relative error signal is used (xsi is normalised in respect to |y|)

paramval steps [protected]

number of timesteps is used for controller learning

paramval teacher [protected]

factor for teaching signal

paramval zetaupdate [protected]

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

• invertmotorcontroller.h

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