Invert3ChannelController Class Template Reference

#include <invert3channelcontroller.h>

Inheritance diagram for Invert3ChannelController:

[legend]Collaboration diagram for Invert3ChannelController:

[legend]List of all members.

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Detailed Description

template<int NUMBER_CHANNELS, int BUFFER_SIZE = 2>
class Invert3ChannelController< NUMBER_CHANNELS, BUFFER_SIZE >

class for robot controller that use naglaa's direct matrix inversion for n channels (simple one layer networks)

Implements standart parameters: eps, rho, mu, stepnumber4avg, stepnumber4delay

Definition at line 16 of file invert3channelcontroller.h.

Public Member Functions
virtual double	g (double z)
	neuron transfer function
virtual double	g_s (double z)
virtual double	squash (double z)
	squashing function, to protect against to large weight updates
	Invert3ChannelController ()
virtual void	step (const sensor *x_, int sensornumber, motor *y_, int motornumber)
	performs one step (includes learning). Calulates motor commands from sensor inputs.
virtual void	stepNoLearning (const sensor *x_, int sensornumber, motor *y_, int motornumber)
	performs one step without learning. Calulates motor commands from sensor inputs.
Public Attributes
double	A [NUMBER_CHANNELS][NUMBER_CHANNELS]
	model matrix
double	C [NUMBER_CHANNELS][NUMBER_CHANNELS]
	controller matrix
double	h [NUMBER_CHANNELS]
	bias vector
double	x_buffer [BUFFER_SIZE][NUMBER_CHANNELS]
	buffer for input values, x[tbuffersize]=actual value, x[(t-1+buffersize)buffersize]=x(t-1)
double	y_buffer [BUFFER_SIZE][NUMBER_CHANNELS]
	buffer for output values, y[tbuffersize]=actual value(if already calculated!), y[(t-1+buffersize)buffersize]=y(t-1)
double	xsi4E [NUMBER_CHANNELS]
double	xsi4Model [NUMBER_CHANNELS]
int	t
	number of steps, needed for ringbuffer x_buffer
Protected Member Functions
virtual void	inverseMatrix (double Q[NUMBER_CHANNELS][NUMBER_CHANNELS], double Q_1[NUMBER_CHANNELS][NUMBER_CHANNELS])
virtual double	calculateE (const double *x_, const double *x_delay, const double *y_delay)
virtual void	learn (const double *x_, const double *x_delay, const double *y_delay)
virtual void	learnModel (const double *x_actual, double *y_effective)
virtual void	calculateDelayedValues (double source[BUFFER_SIZE][NUMBER_CHANNELS], paramval number_steps_of_delay_, double *target)
	calculate delayed values
virtual void	calculateSmoothValues (double source[BUFFER_SIZE][NUMBER_CHANNELS], paramval number_steps_for_averaging_, double *target)
virtual void	calculateControllerValues (double *x_smooth, double *y)
	calculate controller ouptus
virtual void	putInBuffer (double buffer[BUFFER_SIZE][NUMBER_CHANNELS], const double *values)
virtual int	getInternalParamNames (paramkey *&keylist)
virtual int	getInternalParams (paramval *vallist, int length)

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Constructor & Destructor Documentation

Invert3ChannelController (   )  [inline]

Definition at line 101 of file invert3channelcontroller.h.

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Member Function Documentation

virtual void calculateControllerValues (  double *  x_smooth, double *  y )  [inline, protected, virtual]

calculate controller ouptus Definition at line 436 of file invert3channelcontroller.h.

virtual void calculateDelayedValues (  double  source[BUFFER_SIZE][NUMBER_CHANNELS], paramval  number_steps_of_delay_, double *  target )  [inline, protected, virtual]

calculate delayed values Definition at line 405 of file invert3channelcontroller.h.

virtual double calculateE (  const double *  x_, const double *  x_delay, const double *  y_delay )  [inline, protected, virtual]

Definition at line 251 of file invert3channelcontroller.h.

virtual void calculateSmoothValues (  double  source[BUFFER_SIZE][NUMBER_CHANNELS], paramval  number_steps_for_averaging_, double *  target )  [inline, protected, virtual]

Definition at line 418 of file invert3channelcontroller.h.

virtual double g (  double  z  )  [inline, virtual]

neuron transfer function Definition at line 77 of file invert3channelcontroller.h.

virtual double g_s (  double  z  )  [inline, virtual]

Definition at line 85 of file invert3channelcontroller.h.

virtual int getInternalParamNames (  paramkey *&  keylist  )  [inline, protected, virtual]

Definition at line 462 of file invert3channelcontroller.h.

virtual int getInternalParams (  paramval *  vallist, int  length )  [inline, protected, virtual]

Definition at line 477 of file invert3channelcontroller.h.

virtual void inverseMatrix (  double  Q[NUMBER_CHANNELS][NUMBER_CHANNELS], double  Q_1[NUMBER_CHANNELS][NUMBER_CHANNELS] )  [inline, protected, virtual]

Definition at line 210 of file invert3channelcontroller.h.

virtual void learn (  const double *  x_, const double *  x_delay, const double *  y_delay )  [inline, protected, virtual]

Definition at line 338 of file invert3channelcontroller.h.

virtual void learnModel (  const double *  x_actual, double *  y_effective )  [inline, protected, virtual]

Definition at line 376 of file invert3channelcontroller.h.

virtual void putInBuffer (  double  buffer[BUFFER_SIZE][NUMBER_CHANNELS], const double *  values )  [inline, protected, virtual]

Definition at line 453 of file invert3channelcontroller.h.

virtual double squash (  double  z  )  [inline, virtual]

squashing function, to protect against to large weight updates Definition at line 93 of file invert3channelcontroller.h.

virtual void step (  const sensor *  x_, int  sensornumber, motor *  y_, int  motornumber )  [inline, virtual]

performs one step (includes learning). Calulates motor commands from sensor inputs. Reimplemented from AbstractController. Definition at line 143 of file invert3channelcontroller.h.

virtual void stepNoLearning (  const sensor *  x_, int  sensornumber, motor *  y_, int  motornumber )  [inline, virtual]

performs one step without learning. Calulates motor commands from sensor inputs. Reimplemented from AbstractController. Definition at line 183 of file invert3channelcontroller.h.

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Member Data Documentation

double A[NUMBER_CHANNELS][NUMBER_CHANNELS]

model matrix Definition at line 36 of file invert3channelcontroller.h.

double C[NUMBER_CHANNELS][NUMBER_CHANNELS]

controller matrix Definition at line 37 of file invert3channelcontroller.h.

double h[NUMBER_CHANNELS]

bias vector Definition at line 38 of file invert3channelcontroller.h.

int t

number of steps, needed for ringbuffer x_buffer Definition at line 46 of file invert3channelcontroller.h.

double x_buffer[BUFFER_SIZE][NUMBER_CHANNELS]

buffer for input values, x[tbuffersize]=actual value, x[(t-1+buffersize)buffersize]=x(t-1) Definition at line 40 of file invert3channelcontroller.h.

double xsi4E[NUMBER_CHANNELS]

Definition at line 43 of file invert3channelcontroller.h.

double xsi4Model[NUMBER_CHANNELS]

Definition at line 44 of file invert3channelcontroller.h.

double y_buffer[BUFFER_SIZE][NUMBER_CHANNELS]

buffer for output values, y[tbuffersize]=actual value(if already calculated!), y[(t-1+buffersize)buffersize]=y(t-1) Definition at line 41 of file invert3channelcontroller.h.

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