teachable.h

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/***************************************************************************
 *   Copyright (C) 2009 by Robot Group Leipzig                             *
 *    martius@informatik.uni-leipzig.de                                    *
 *    fhesse@informatik.uni-leipzig.de                                     *
 *    der@informatik.uni-leipzig.de                                        *
 *    guettler@informatik.uni-leipzig.de                                   *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
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 *   This program is distributed in the hope that it will be useful,       *
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 *                                                                         *
 *                                                                         *
 *   $Log: teachable.h,v $
 *   Revision 1.2  2009/08/10 15:01:49  der
 *   added virtual destructor
 *
 *   Revision 1.1  2009/08/05 23:06:46  martius
 *   new teachable interface for controller
 *
 *                                                                 *
 ***************************************************************************/
#ifndef __TEACHABLE_H
#define __TEACHABLE_H

#include <selforg/matrix.h>

/**
   Interface for teachable controller. 
*/
class Teachable {
public:
  
  virtual ~Teachable() {}

  /** 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.
     @param teaching: matrix with dimensions (motornumber,1)
   */
  virtual void setMotorTeaching(const matrix::Matrix& teaching) = 0;

  /** 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
     @param teaching: matrix with dimensions (motorsensors,1)
   */
  virtual void setSensorTeaching(const matrix::Matrix& teaching) = 0;

  /// returns the last motor values (useful for cross motor coupling)
  virtual matrix::Matrix getLastMotorValues() = 0;

  /// returns the last sensor values (useful for cross sensor coupling)
  virtual matrix::Matrix getLastSensorValues() = 0;
};

  
#endif

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