InvertMotorSpace Class Reference

#include <invertmotorspace.h>

Inheritance diagram for InvertMotorSpace:

[legend]Collaboration diagram for InvertMotorSpace:

Detailed Description

class for robot controller that uses the georg's matrixlib for direct matrix inversion for n channels (simple one layer networks)

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

Examples:: main.cpp.

Definition at line 87 of file invertmotorspace.h.

Public Member Functions

InvertMotorSpace (int buffersize, double cInit=0.1, bool someInternalParams=true)

virtual void init (int sensornumber, int motornumber)

initialisation of the controller with the given sensor/ motornumber Must be called before use.

virtual ~InvertMotorSpace ()

virtual paramkey getName () const

return the name of the object (with version number) Hint: use insertCVSInfo from Configurable

virtual int getSensorNumber () const

returns the number of sensors the controller was initialised with or 0 if not initialised

virtual int getMotorNumber () const

returns the mumber of motors the controller was initialised with or 0 if not initialised

virtual void step (const sensor *, int number_sensors, motor *, int number_motors)

performs one step (includes learning).

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

performs one step without learning. Calulates motor commands from sensor inputs.

virtual bool store (const char *filename)

stores the controller values to a given file.

virtual bool restore (const char *filename)

loads the controller values from a given file.

virtual list< iparamkey > getInternalParamNames () const

The list of the names of all internal parameters given by getInternalParams().

virtual list< iparamval > getInternalParams () const

virtual list< ILayer > getStructuralLayers () const

Specifies which parameter vector forms a structural layer (in terms of a neural network) The ordering is important.

virtual list< IConnection > getStructuralConnections () const

Specifies which parameter matrix forms a connection between layers (in terms of a neural network) The orderning is not important.

Protected Member Functions

void fillBuffersAndControl (const sensor *x_, int number_sensors, motor *y_, int number_motors)

puts the sensors in the ringbuffer, generate controller values and put them in the

virtual void learnController (const Matrix &x, const Matrix &x_smooth, int delay)

learn h,C, delayed motors y and corresponding sensors x

virtual void learnModel (const Matrix &x, const Matrix &y)

learn A, using motors y and corresponding sensors x

virtual Matrix calculateDelayedValues (const Matrix *buffer, int number_steps_of_delay_)

calculate delayed values

virtual Matrix calculateSmoothValues (const Matrix *buffer, int number_steps_for_averaging_)

Matrix calculateControllerValues (const Matrix &x_smooth)

calculate controller outputs

Protected Attributes

unsigned short number_sensors

unsigned short number_motors

Matrix A

Matrix C

Matrix R

Matrix H

Matrix B

NoiseGenerator * BNoiseGen

Matrix * x_buffer

Matrix * y_buffer

Matrix x_smooth

bool someInternalParams

double cInit

Constructor & Destructor Documentation

InvertMotorSpace ( int buffersize,

double cInit = 0.1,

bool someInternalParams = true

)

Definition at line 102 of file invertmotorspace.cpp.

~InvertMotorSpace ( ) [virtual]

Definition at line 114 of file invertmotorspace.cpp.

Member Function Documentation

Matrix calculateControllerValues ( const Matrix & x_smooth ) [protected]

calculate controller outputs

Parameters:

x_smooth smoothed sensors Matrix(number_channels,1)

Definition at line 292 of file invertmotorspace.cpp.

Matrix calculateDelayedValues ( const Matrix * buffer,

int number_steps_of_delay_

) [protected, virtual]

calculate delayed values

Definition at line 297 of file invertmotorspace.cpp.

Matrix calculateSmoothValues ( const Matrix * buffer,

int number_steps_for_averaging_

) [protected, virtual]

Definition at line 304 of file invertmotorspace.cpp.

void fillBuffersAndControl ( const sensor * x_,

int number_sensors,

motor * y_,

int number_motors

) [protected]

puts the sensors in the ringbuffer, generate controller values and put them in the

Definition at line 178 of file invertmotorspace.cpp.

list< Inspectable::iparamkey > getInternalParamNames ( ) const [virtual]

The list of the names of all internal parameters given by getInternalParams().
The naming convention is "v[i]" for vectors and "A[i][j]" for matrices, where i, j start at 0.
Returns:
: list of keys

Implements Inspectable.
Definition at line 346 of file invertmotorspace.cpp.

list< Inspectable::iparamval > getInternalParams ( ) const [virtual]

Returns:
: list of values

Implements Inspectable.
Definition at line 362 of file invertmotorspace.cpp.

virtual int getMotorNumber ( ) const [inline, virtual]

returns the mumber of motors the controller was initialised with or 0 if not initialised

Reimplemented from AbstractController.
Definition at line 101 of file invertmotorspace.h.

virtual paramkey getName ( ) const [inline, virtual]

return the name of the object (with version number) Hint: use insertCVSInfo from Configurable

Reimplemented from Configurable.
Definition at line 96 of file invertmotorspace.h.

virtual int getSensorNumber ( ) const [inline, virtual]

returns the number of sensors the controller was initialised with or 0 if not initialised

Reimplemented from AbstractController.
Definition at line 99 of file invertmotorspace.h.

list< Inspectable::IConnection > getStructuralConnections ( ) const [virtual]

Specifies which parameter matrix forms a connection between layers (in terms of a neural network) The orderning is not important.

Returns:
: list of layer names with dimension

Reimplemented from Inspectable.
Definition at line 386 of file invertmotorspace.cpp.

list< Inspectable::ILayer > getStructuralLayers ( ) const [virtual]

Specifies which parameter vector forms a structural layer (in terms of a neural network) The ordering is important.
The first entry is the input layer and so on.
Returns:
: list of layer names with dimension

Reimplemented from Inspectable.
Definition at line 378 of file invertmotorspace.cpp.

void init ( int sensornumber,

int motornumber

) [virtual]

initialisation of the controller with the given sensor/ motornumber Must be called before use.

Reimplemented from AbstractController.
Definition at line 120 of file invertmotorspace.cpp.

void learnController ( const Matrix & x,

const Matrix & x_smooth,

int delay

) [protected, virtual]

learn h,C, delayed motors y and corresponding sensors x

Definition at line 203 of file invertmotorspace.cpp.

void learnModel ( const Matrix & x,

const Matrix & y

) [protected, virtual]

learn A, using motors y and corresponding sensors x

Definition at line 263 of file invertmotorspace.cpp.

bool restore ( const char * filename ) [virtual]

loads the controller values from a given file.

Reimplemented from AbstractController.
Definition at line 332 of file invertmotorspace.cpp.

void step ( const sensor * ,

int number_sensors,

motor * ,

int number_motors

) [virtual]

performs one step (includes learning).
Calulates motor commands from sensor inputs.
Reimplemented from AbstractController.
Definition at line 152 of file invertmotorspace.cpp.

void stepNoLearning ( const sensor * ,

int number_sensors,

motor * ,

int number_motors

) [virtual]

performs one step without learning. Calulates motor commands from sensor inputs.

Reimplemented from AbstractController.
Definition at line 171 of file invertmotorspace.cpp.

bool store ( const char * filename ) [virtual]

stores the controller values to a given file.

Reimplemented from AbstractController.
Definition at line 319 of file invertmotorspace.cpp.

Member Data Documentation

Matrix A [protected]

Definition at line 127 of file invertmotorspace.h.

Matrix B [protected]

Definition at line 131 of file invertmotorspace.h.

NoiseGenerator* BNoiseGen [protected]

Definition at line 132 of file invertmotorspace.h.

Matrix C [protected]

Definition at line 128 of file invertmotorspace.h.

double cInit [protected]

Definition at line 138 of file invertmotorspace.h.

Matrix H [protected]

Definition at line 130 of file invertmotorspace.h.

unsigned short number_motors [protected]

Definition at line 125 of file invertmotorspace.h.

unsigned short number_sensors [protected]

Definition at line 124 of file invertmotorspace.h.

Matrix R [protected]

Definition at line 129 of file invertmotorspace.h.

bool someInternalParams [protected]

Definition at line 137 of file invertmotorspace.h.

Matrix* x_buffer [protected]

Definition at line 133 of file invertmotorspace.h.

Matrix x_smooth [protected]

Definition at line 135 of file invertmotorspace.h.

Matrix* y_buffer [protected]

Definition at line 134 of file invertmotorspace.h.

Generated on Tue Apr 4 19:05:05 2006 for Robotsystem from Robot Group Leipzig by

1.4.5


Public Member Functions
	InvertMotorSpace (int buffersize, double cInit=0.1, bool someInternalParams=true)
virtual void	init (int sensornumber, int motornumber)
	initialisation of the controller with the given sensor/ motornumber Must be called before use.
virtual	~InvertMotorSpace ()
virtual paramkey	getName () const
	return the name of the object (with version number) Hint: use insertCVSInfo from Configurable
virtual int	getSensorNumber () const
	returns the number of sensors the controller was initialised with or 0 if not initialised
virtual int	getMotorNumber () const
	returns the mumber of motors the controller was initialised with or 0 if not initialised
virtual void	step (const sensor , int number_sensors, motor , int number_motors)
	performs one step (includes learning).
virtual void	stepNoLearning (const sensor , int number_sensors, motor , int number_motors)
	performs one step without learning. Calulates motor commands from sensor inputs.
virtual bool	store (const char *filename)
	stores the controller values to a given file.
virtual bool	restore (const char *filename)
	loads the controller values from a given file.
virtual list< iparamkey >	getInternalParamNames () const
	The list of the names of all internal parameters given by getInternalParams().
virtual list< iparamval >	getInternalParams () const
virtual list< ILayer >	getStructuralLayers () const
	Specifies which parameter vector forms a structural layer (in terms of a neural network) The ordering is important.
virtual list< IConnection >	getStructuralConnections () const
	Specifies which parameter matrix forms a connection between layers (in terms of a neural network) The orderning is not important.
Protected Member Functions
void	fillBuffersAndControl (const sensor x_, int number_sensors, motor y_, int number_motors)
	puts the sensors in the ringbuffer, generate controller values and put them in the
virtual void	learnController (const Matrix &x, const Matrix &x_smooth, int delay)
	learn h,C, delayed motors y and corresponding sensors x
virtual void	learnModel (const Matrix &x, const Matrix &y)
	learn A, using motors y and corresponding sensors x
virtual Matrix	calculateDelayedValues (const Matrix *buffer, int number_steps_of_delay_)
	calculate delayed values
virtual Matrix	calculateSmoothValues (const Matrix *buffer, int number_steps_for_averaging_)
Matrix	calculateControllerValues (const Matrix &x_smooth)
	calculate controller outputs
Protected Attributes
unsigned short	number_sensors
unsigned short	number_motors
Matrix	A
Matrix	C
Matrix	R
Matrix	H
Matrix	B
NoiseGenerator *	BNoiseGen
Matrix *	x_buffer
Matrix *	y_buffer
Matrix	x_smooth
bool	someInternalParams
double	cInit