DerivativeWiring Class Reference

#include <derivativewiring.h>

Inheritance diagram for DerivativeWiring:

[legend]Collaboration diagram for DerivativeWiring:

[legend]List of all members.

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Detailed Description

Implements a wiring (between controller and robot) which includes the first and second derivative of the original robot sensor values.

Definition at line 69 of file derivativewiring.h.

Public Member Functions
	DerivativeWiring (const DerivativeWiringConf &conf, NoiseGenerator *noise)
	constructor
virtual	~DerivativeWiring ()
	destructor
virtual bool	init (int robotsensornumber, int robotmotornumber)
	initializes the internal numbers of sensors and motors on robot side, calculate number of sensors and motors on controller side
virtual bool	wireSensors (const sensor *rsensors, int rsensornumber, sensor *csensors, int csensornumber, double noise)
	Realizes derivative wiring from robot sensors to controller sensors.
virtual bool	wireMotors (motor *rmotors, int rmotornumber, const motor *cmotors, int cmotornumber)
	Realizes wiring from controller motor outputs to robot motors.
Static Public Member Functions
static DerivativeWiringConf	getDefaultConf ()
	Providing default configuration for DerivativeWiring as static method.
Protected Member Functions
void	calcFirstDerivative ()
	Calculate the first derivative of the sensorvalues given by the robot f'(x) = (f(x+1) - f(x-1)) / 2 since we do not have f(x+1) we go one timestep in the past.
void	calcSecondDerivative ()
	Calculate the secound derivative of the sensorvalues given by the robot f'(x) = f(x) - 2f(x-1) + f(x-2).
Protected Attributes
DerivativeWiringConf	conf
	used configuration
int	time
int	delay
	number timesteps the sensor values are delayed for calculation of the derivative
sensor *	sensorbuffer [buffersize]
	current and old smoothed sensor values of robot
sensor *	id
	current sensors (with noise)
sensor *	first
	current first derivative
sensor *	second
	current second derivative
motor *	blindMotors
	array that stored the values of the blind motors
unsigned int	blindMotorNumber
	number of blind motors used
Static Protected Attributes
static const int	buffersize = 40

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Constructor & Destructor Documentation

DerivativeWiring (  const DerivativeWiringConf &  conf, NoiseGenerator *  noise )

constructor Parameters: conf  for giving the wished configuration of DerivativeWiring via DerivativeWiringConf noise  NoiseGenerator that is used for adding noise to sensor values Definition at line 62 of file derivativewiring.cpp.

~DerivativeWiring (   )  [virtual]

destructor Definition at line 73 of file derivativewiring.cpp.

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Member Function Documentation

void calcFirstDerivative (   )  [protected]

Calculate the first derivative of the sensorvalues given by the robot f'(x) = (f(x+1) - f(x-1)) / 2 since we do not have f(x+1) we go one timestep in the past. Definition at line 198 of file derivativewiring.cpp.

void calcSecondDerivative (   )  [protected]

Calculate the secound derivative of the sensorvalues given by the robot f'(x) = f(x) - 2f(x-1) + f(x-2). Definition at line 207 of file derivativewiring.cpp.

static DerivativeWiringConf getDefaultConf (   )  [inline, static]

Providing default configuration for DerivativeWiring as static method. Definition at line 110 of file derivativewiring.h.

bool init (  int  robotsensornumber, int  robotmotornumber )  [virtual]

initializes the internal numbers of sensors and motors on robot side, calculate number of sensors and motors on controller side Implements AbstractWiring. Definition at line 84 of file derivativewiring.cpp.

bool wireMotors (  motor *  rmotors, int  rmotornumber, const motor *  cmotors, int  cmotornumber )  [virtual]

Realizes wiring from controller motor outputs to robot motors. Parameters: rmotors  pointer to array of motorvalues for robot rmotornumber  number of robot motors cmotors  pointer to array of motorvalues from controller cmotornumber  number of motorvalues from controller Implements AbstractWiring. Definition at line 182 of file derivativewiring.cpp.

bool wireSensors (  const sensor *  rsensors, int  rsensornumber, sensor *  csensors, int  csensornumber, double  noise )  [virtual]

Realizes derivative wiring from robot sensors to controller sensors. Parameters: rsensors  pointer to array of sensorvalues from robot rsensornumber  number of sensors from robot csensors  pointer to array of sensorvalues for controller csensornumber  number of sensors to controller noise  size of the noise added to the sensors Implements AbstractWiring. Definition at line 119 of file derivativewiring.cpp.

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Member Data Documentation

unsigned int blindMotorNumber [protected]

number of blind motors used Definition at line 157 of file derivativewiring.h.

motor* blindMotors [protected]

array that stored the values of the blind motors Definition at line 154 of file derivativewiring.h.

const int buffersize = 40 [static, protected]

Definition at line 135 of file derivativewiring.h.

DerivativeWiringConf conf [protected]

used configuration Definition at line 134 of file derivativewiring.h.

int delay [protected]

number timesteps the sensor values are delayed for calculation of the derivative Definition at line 138 of file derivativewiring.h.

sensor* first [protected]

current first derivative Definition at line 148 of file derivativewiring.h.

sensor* id [protected]

current sensors (with noise) Definition at line 145 of file derivativewiring.h.

sensor* second [protected]

current second derivative Definition at line 151 of file derivativewiring.h.

sensor* sensorbuffer[buffersize] [protected]

current and old smoothed sensor values of robot Definition at line 142 of file derivativewiring.h.

int time [protected]

Definition at line 136 of file derivativewiring.h.

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