Teachable Class Reference

Interface for teachable controller. More...

#include <teachable.h>

Inheritance diagram for Teachable:


Public Member Functions
virtual	~Teachable ()
virtual void	setMotorTeaching (const matrix::Matrix &teaching)=0
	The given motor teaching signal is used for this timestep.
virtual void	setSensorTeaching (const matrix::Matrix &teaching)=0
	The given sensor teaching signal (distal learning) is used for this timestep.
virtual matrix::Matrix	getLastMotorValues ()=0
	returns the last motor values (useful for cross motor coupling)
virtual matrix::Matrix	getLastSensorValues ()=0
	returns the last sensor values (useful for cross sensor coupling)

Detailed Description

Interface for teachable controller.

Constructor & Destructor Documentation

virtual ~Teachable ( ) [inline, virtual]

Member Function Documentation

virtual matrix::Matrix getLastMotorValues ( ) [pure virtual]

returns the last motor values (useful for cross motor coupling)

Implemented in InvertMotorNStep.

virtual matrix::Matrix getLastSensorValues ( ) [pure virtual]

returns the last sensor values (useful for cross sensor coupling)

Implemented in InvertMotorNStep.

virtual void setMotorTeaching ( const matrix::Matrix & teaching ) [pure virtual]

The given motor teaching signal is used for this timestep.

It is used as a feed forward teaching signal for the controller. Please note, that the teaching signal has to be given each timestep for a continuous teaching process.

Parameters:

teaching,:

matrix with dimensions (motornumber,1)

Implemented in InvertMotorNStep.

virtual void setSensorTeaching ( const matrix::Matrix & teaching ) [pure virtual]

The given sensor teaching signal (distal learning) is used for this timestep.

The belonging motor teachung signal is calculated by the inverse model. See setMotorTeaching

Parameters:

teaching,:

matrix with dimensions (motorsensors,1)

Implemented in InvertMotorNStep.

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