MeasureAdapter Class Reference

This is a passive controller adapter who is passive and can handle AbstractMeasures. More...

Inheritance diagram for MeasureAdapter:

[legend]Collaboration diagram for MeasureAdapter:


Public Member Functions
	MeasureAdapter (AbstractController *controller)
	Constructs the MeasureAdapter.
virtual	~MeasureAdapter ()
virtual std::list< ComplexMeasure * >	addSensorComplexMeasure (char *measureName, ComplexMeasureMode mode, int numberBins, int stepSize)
	Adds a ComplexMeasure for measuring sensor values.
virtual void	init (int sensornumber, int motornumber, RandGen *randGen=0)
	initialisation of the controller with the given sensor/ motornumber Must NORMALLY be called before use.
virtual void	step (const sensor sensors, int sensornumber, motor motors, int motornumber)
	performs one step (includes learning).
virtual void	stepNoLearning (const sensor sensors, int sensornumber, motor motors, int motornumber)
	performs one step without learning.
virtual bool	store (FILE *f) const
	stores the object to the given file stream (binary).
virtual bool	restore (FILE *f)
	loads the object from the given file stream (binary).
virtual iparamkeylist	getInternalParamNames () const
	The list of the names of all internal parameters given by getInternalParams().
virtual iparamvallist	getInternalParams () const
Protected Attributes
StatisticTools *	st
bool	initialized
motor *	motorValues
sensor *	sensorValues

Detailed Description

This is a passive controller adapter who is passive and can handle AbstractMeasures.

Normally the sensor and/or motor values are measured.

MeasureAdapter ( AbstractController * controller )

Constructs the MeasureAdapter.

~MeasureAdapter ( ) [virtual]

std::list< ComplexMeasure * > addSensorComplexMeasure	(	char *	measureName,
		ComplexMeasureMode	mode,
		int	numberBins,
		int	stepSize
	)			`[virtual]`

Adds a ComplexMeasure for measuring sensor values.

For each sensor a ComplexMeasure is created.

std::list< Inspectable::iparamkey > 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.

std::list< Inspectable::iparamval > getInternalParams ( ) const [virtual]

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

For all ControllerAdapters call first AbstractControllerAdapter::init(sensornumber,motornumber) if you overwrite this method

bool restore ( FILE * f ) [virtual]

loads the object from the given file stream (binary).

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