InvertMotorController Class Reference

#include <invertmotorcontroller.h>

Inheritance diagram for InvertMotorController:

[legend]Collaboration diagram for InvertMotorController:

[legend]List of all members.

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Detailed Description

Abstract class (interface) for robot controller that use direct matrix inversion and simple one layer networks.

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

Definition at line 15 of file invertmotorcontroller.h.

Public Member Functions
	InvertMotorController (unsigned short buffersize)
virtual paramval	getParam (const paramkey &key) const
virtual bool	setParam (const paramkey &key, paramval val)
virtual paramlist	getParamList () const
	The list of all parameters with there value as allocated lists.
Protected Member Functions
void	putInBuffer (Matrix *buffer, const Matrix &vec, int delay=0)
Static Protected Member Functions
static double	g (double z)
	neuron transfer function
static double	g_s (double z)
	first dervative
static double	g_s_inv (double z)
	inverse of the first derivative
static double	squash (double z)
	squashing function, to protect against to large weight updates
Protected Attributes
paramval	epsC
paramval	desens
paramval	s4delay
paramval	s4avg
paramval	steps
paramval	epsA
paramval	factorB
paramval	zetaupdate
paramval	dampA
short	logaE
short	rootE
short	relativeE
paramval	squashSize
paramval	adaptRate
paramval	nomUpdate
paramval	noiseB
paramval	teacher
int	t
unsigned short	buffersize
string	name
bool	initialised

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Constructor & Destructor Documentation

InvertMotorController (  unsigned short  buffersize  )  [inline]

Definition at line 17 of file invertmotorcontroller.h.

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Member Function Documentation

static double g (  double  z  )  [inline, static, protected]

neuron transfer function Definition at line 138 of file invertmotorcontroller.h.

static double g_s (  double  z  )  [inline, static, protected]

first dervative Definition at line 144 of file invertmotorcontroller.h.

static double g_s_inv (  double  z  )  [inline, static, protected]

inverse of the first derivative Definition at line 154 of file invertmotorcontroller.h.

virtual paramval getParam (  const paramkey &  key  )  const [inline, virtual]

Definition at line 40 of file invertmotorcontroller.h.

virtual paramlist getParamList (   )  const [inline, virtual]

The list of all parameters with there value as allocated lists. Returns: list of key-value pairs Reimplemented from Configurable. Definition at line 84 of file invertmotorcontroller.h.

void putInBuffer (  Matrix *  buffer, const Matrix &  vec, int  delay = 0 )  [inline, protected]

Definition at line 133 of file invertmotorcontroller.h.

virtual bool setParam (  const paramkey &  key, paramval  val )  [inline, virtual]

Definition at line 61 of file invertmotorcontroller.h.

static double squash (  double  z  )  [inline, static, protected]

squashing function, to protect against to large weight updates Definition at line 164 of file invertmotorcontroller.h.

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Member Data Documentation

paramval adaptRate [protected]

Definition at line 121 of file invertmotorcontroller.h.

unsigned short buffersize [protected]

Definition at line 127 of file invertmotorcontroller.h.

paramval dampA [protected]

Definition at line 115 of file invertmotorcontroller.h.

paramval desens [protected]

Definition at line 108 of file invertmotorcontroller.h.

paramval epsA [protected]

Definition at line 112 of file invertmotorcontroller.h.

paramval epsC [protected]

Definition at line 107 of file invertmotorcontroller.h.

paramval factorB [protected]

Definition at line 113 of file invertmotorcontroller.h.

bool initialised [protected]

Definition at line 129 of file invertmotorcontroller.h.

short logaE [protected]

Definition at line 116 of file invertmotorcontroller.h.

string name [protected]

Definition at line 128 of file invertmotorcontroller.h.

paramval noiseB [protected]

Definition at line 123 of file invertmotorcontroller.h.

paramval nomUpdate [protected]

Definition at line 122 of file invertmotorcontroller.h.

short relativeE [protected]

Definition at line 118 of file invertmotorcontroller.h.

short rootE [protected]

Definition at line 117 of file invertmotorcontroller.h.

paramval s4avg [protected]

Definition at line 110 of file invertmotorcontroller.h.

paramval s4delay [protected]

Definition at line 109 of file invertmotorcontroller.h.

paramval squashSize [protected]

Definition at line 120 of file invertmotorcontroller.h.

paramval steps [protected]

Definition at line 111 of file invertmotorcontroller.h.

int t [protected]

Definition at line 126 of file invertmotorcontroller.h.

paramval teacher [protected]

Definition at line 124 of file invertmotorcontroller.h.

paramval zetaupdate [protected]

Definition at line 114 of file invertmotorcontroller.h.

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