SineController Class Reference

class for robot control with sine, sawtooth and impuls More...

#include <sinecontroller.h>

Inherits AbstractController.

Inheritance diagram for SineController:

[legend]Collaboration diagram for SineController:

[legend]List of all members.

Public Types
	Sine
	SawTooth
	Impulse
enum	function { Sine, SawTooth, Impulse }
Public Member Functions
	SineController (unsigned long int controlmask=(~0), function func=Sine)
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 int	getSensorNumber () const
virtual int	getMotorNumber () const
virtual void	step (const sensor *sensors, int sensornumber, motor *motors, int motornumber)
	performs one step ( the same as StepNoLearning).
virtual void	stepNoLearning (const sensor *, int number_sensors, motor *, int number_motors)
	performs one step.
virtual bool	store (FILE *f) const
virtual bool	restore (FILE *f)
Static Public Member Functions
static double	sine (double x, double _unused)
	sine
static double	sawtooth (double x, double _unused)
	saw tooth shape oscillator
static double	impuls (double x, double impulsWidth)
	impuls shaped oscillator (+-1 for impulsWidth part of the time)
Protected Attributes
std::string	name
int	number_sensors
int	number_motors
unsigned long int	controlmask
paramval	period
paramval	phaseShift
paramval	impulsWidth
double	phase
paramval	amplitude
double(*	osci )(double x, double param)

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Detailed Description

class for robot control with sine, sawtooth and impuls

period is the length of the period in steps and phaseshift is the phase difference between channels given in Pi/2

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Member Enumeration Documentation

enum function

Enumerator:

Sine
SawTooth
Impulse

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Constructor & Destructor Documentation

SineController	(	unsigned long int	controlmask = (~0),
		function	func = Sine
	)

Parameters:

	controlmask	bitmask to select channels to control (default all)
	function	controller function to use

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Member Function Documentation

virtual int getMotorNumber

(

)

const [inline, virtual]

Returns:

Number of motors the controller was initialised with or 0 if not initialised

Implements AbstractController.

virtual int getSensorNumber

(

)

const [inline, virtual]

Returns:

Number of sensors the controller was initialised with or 0 if not initialised

Implements AbstractController.

double impuls	(	double	x,
		double	impulsWidth
	)			[static]

impuls shaped oscillator (+-1 for impulsWidth part of the time)

void init	(	int	sensornumber,
		int	motornumber,
		RandGen *	randGen = 0
	)			[virtual]

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

Implements AbstractController.

virtual bool restore

(

FILE *

f

)

[inline, virtual]

See also:

Storable

Implements Storeable.

double sawtooth	(	double	x,
		double	_unused
	)			[static]

saw tooth shape oscillator

double sine	(	double	x,
		double	_unused
	)			[static]

sine

void step	(	const sensor *	sensors,
		int	sensornumber,
		motor *	motors,
		int	motornumber
	)			[virtual]

performs one step ( the same as StepNoLearning).

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.

See also:

step

Implements AbstractController.

virtual bool store

(

FILE *

f

)

const [inline, virtual]

See also:

Storable

Implements Storeable.

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Member Data Documentation

paramval amplitude [protected]

unsigned long int controlmask [protected]

paramval impulsWidth [protected]

std::string name [protected]

Reimplemented from Configurable.

int number_motors [protected]

int number_sensors [protected]

double(* osci)(double x, double param) [protected]

paramval period [protected]

double phase [protected]

paramval phaseShift [protected]

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

• sinecontroller.h
• sinecontroller.cpp

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