AbstractController Class Reference

#include <abstractcontroller.h>

Inheritance diagram for AbstractController:

[legend]Collaboration diagram for AbstractController:

[legend]List of all members.

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Detailed Description

Abstract class (interface) for robot controller.

The controller gets a number of input sensor values each timestep and has to generate a number of output motor values.

Interface assumes the following usage:

• init is called first to initialise the dimension of sensor- and motor space
• each time step either step() or stepNoLearning() is called to ask the controller for motor values.

Examples:

main.cpp.

Definition at line 68 of file abstractcontroller.h.

Public Member Functions
virtual void	init (int sensornumber, int motornumber) ABSTRACT
	initialisation of the controller with the given sensor/ motornumber Must be called before use.
virtual int	getSensorNumber () const ABSTRACT
virtual int	getMotorNumber () const ABSTRACT
virtual void	step (const sensor *sensors, int sensornumber, motor *motors, int motornumber) ABSTRACT
	performs one step (includes learning).
virtual void	stepNoLearning (const sensor *, int number_sensors, motor *, int number_motors) ABSTRACT
	performs one step without learning.
virtual bool	store (const char *filename) ABSTRACT
	stores the controller values to a given file.
virtual bool	restore (const char *filename) ABSTRACT
	loads the controller values from a given file.

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Member Function Documentation

virtual int getMotorNumber (   )  const [virtual]

Returns: Number of motors the controller was initialised with or 0 if not initialised Reimplemented in InvertMotorSpace, InvertNChannelController, and SineController.

virtual int getSensorNumber (   )  const [virtual]

Returns: Number of sensors the controller was initialised with or 0 if not initialised Reimplemented in InvertMotorSpace, InvertNChannelController, and SineController.

virtual void init (  int  sensornumber, int  motornumber )  [virtual]

initialisation of the controller with the given sensor/ motornumber Must be called before use. Reimplemented in DInvert3ChannelController, InvertMotorSpace, InvertNChannelController, and SineController.

virtual bool restore (  const char *  filename  )  [virtual]

loads the controller values from a given file. This should include internal parameters Reimplemented in InvertMotorSpace, InvertNChannelController, and SineController.

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

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 Reimplemented in DInvert3ChannelController, Invert3ChannelController, InvertMotorSpace, InvertNChannelController, InvertNChannelController_Gnu, and SineController.

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

performs one step without learning. See also: step Reimplemented in DInvert3ChannelController, Invert3ChannelController, InvertMotorSpace, InvertNChannelController, InvertNChannelController_Gnu, and SineController.

virtual bool store (  const char *  filename  )  [virtual]

stores the controller values to a given file. This should include internal parameters. Reimplemented in InvertMotorSpace, InvertNChannelController, and SineController.

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