InvertMotorSpace Class Reference

class for robot controller that uses the georg's matrixlib for direct matrix inversion for n channels (simple one layer networks) More...

#include <invertmotorspace.h>

Inherits InvertMotorController.

Inheritance diagram for InvertMotorSpace:

[legend]Collaboration diagram for InvertMotorSpace:

[legend]List of all members.

Public Member Functions
	InvertMotorSpace (int buffersize, double cInit=0.1, bool someInternalParams=true)
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	~InvertMotorSpace ()
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. Calulates motor commands from sensor inputs.
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< ILayer >	getStructuralLayers () const
	Specifies which parameter vector forms a structural layer (in terms of a neural network) The ordering is important.
virtual std::list< IConnection >	getStructuralConnections () const
	Specifies which parameter matrix forms a connection between layers (in terms of a neural network) The orderning is not important.
Protected Member Functions
void	fillBuffersAndControl (const sensor *x_, int number_sensors, motor *y_, int number_motors)
	puts the sensors in the ringbuffer, generate controller values and put them in the
virtual void	learnController (const matrix::Matrix &x, const matrix::Matrix &x_smooth, int delay)
	learn h,C, delayed motors y and corresponding sensors x
virtual void	learnModel (const matrix::Matrix &x, const matrix::Matrix &y)
	learn A, using motors y and corresponding sensors x
virtual matrix::Matrix	calculateControllerValues (const matrix::Matrix &x_smooth)
	returns controller output for given sensor values
Protected Attributes
unsigned short	number_sensors
unsigned short	number_motors
matrix::Matrix	A
matrix::Matrix	C
matrix::Matrix	R
matrix::Matrix	H
matrix::Matrix	B
NoiseGenerator *	BNoiseGen
matrix::Matrix *	x_buffer
matrix::Matrix *	y_buffer
matrix::Matrix	x_smooth
bool	someInternalParams
double	cInit

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Detailed Description

class for robot controller that uses the georg's matrixlib for direct matrix inversion for n channels (simple one layer networks)

Implements standart parameters: eps, rho, mu, stepnumber4avg, stepnumber4delay

Examples:

directconnect/directconnect.cpp, integration/main.cpp, and template_sphererobot/main.cpp.

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Constructor & Destructor Documentation

InvertMotorSpace	(	int	buffersize,
		double	cInit = 0.1,
		bool	someInternalParams = true
	)

~InvertMotorSpace

(

)

[virtual]

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Member Function Documentation

Matrix calculateControllerValues

(

const matrix::Matrix &

x_smooth

)

[protected, virtual]

returns controller output for given sensor values

Parameters:

x_smooth

smoothed sensors Matrix(number_channels,1)

void fillBuffersAndControl	(	const sensor *	x_,
		int	number_sensors,
		motor *	y_,
		int	number_motors
	)			[protected]

puts the sensors in the ringbuffer, generate controller values and put them in the

virtual int getMotorNumber

(

)

const [inline, virtual]

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

Implements AbstractController.

virtual int getSensorNumber

(

)

const [inline, virtual]

returns the number of sensors the controller was initialised with or 0 if not initialised

Implements AbstractController.

list< Inspectable::IConnection > getStructuralConnections

(

)

const [virtual]

Specifies which parameter matrix forms a connection between layers (in terms of a neural network) The orderning is not important.

Returns:

: list of layer names with dimension

Reimplemented from Inspectable.

list< Inspectable::ILayer > getStructuralLayers

(

)

const [virtual]

Specifies which parameter vector forms a structural layer (in terms of a neural network) The ordering is important.

The first entry is the input layer and so on.

Returns:

: list of layer names with dimension

Reimplemented from Inspectable.

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 learnController	(	const matrix::Matrix &	x,
		const matrix::Matrix &	x_smooth,
		int	delay
	)			[protected, virtual]

learn h,C, delayed motors y and corresponding sensors x

void learnModel	(	const matrix::Matrix &	x,
		const matrix::Matrix &	y
	)			[protected, virtual]

learn A, using motors y and corresponding sensors x

bool restore

(

FILE *

f

)

[virtual]

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

Implements Storeable.

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

performs one step (includes learning).

Calulates motor commands from sensor inputs.

Implements AbstractController.

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

performs one step without learning. Calulates motor commands from sensor inputs.

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

matrix::Matrix A [protected]

matrix::Matrix B [protected]

NoiseGenerator* BNoiseGen [protected]

matrix::Matrix C [protected]

double cInit [protected]

matrix::Matrix H [protected]

unsigned short number_motors [protected]

unsigned short number_sensors [protected]

matrix::Matrix R [protected]

bool someInternalParams [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:

• invertmotorspace.h
• invertmotorspace.cpp

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