SineController Class Reference

#include <sinecontroller.h>

Inheritance diagram for SineController:

[legend]Collaboration diagram for SineController:

[legend]List of all members.

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Detailed Description

class for robot control with sine and cosine

Definition at line 64 of file sinecontroller.h.

Public Member Functions
	SineController (int number_controlled=-1)
virtual void	init (int sensornumber, int motornumber)
	initialisation of the controller with the given sensor/ motornumber Must be called before use.
virtual paramkey	getName () const
	returns the name of the object (with version number)
virtual int	getSensorNumber () const
virtual int	getMotorNumber () const
virtual void	step (const sensor *sensors, int sensornumber, motor *motors, int motornumber)
	performs one step (includes learning).
virtual void	stepNoLearning (const sensor *, int number_sensors, motor *, int number_motors)
	performs one step without learning.
virtual list< iparamkey >	getInternalParamNames () const
	The list of the names of all internal parameters given by getInternalParams().
virtual list< iparamval >	getInternalParams () const
	The list of the names of all internal parameters given by getInternalParams().
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.
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.
Protected Attributes
int	t
string	name
int	number_sensors
int	number_motors
int	number_controlled
paramval	sineRate
paramval	phaseShift

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Constructor & Destructor Documentation

SineController (  int  number_controlled = -1  )

Definition at line 51 of file sinecontroller.cpp.

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Member Function Documentation

virtual list<iparamkey> getInternalParamNames (   )  const [inline, virtual]

The list of the names of all internal parameters given by getInternalParams(). Returns: list of names Implements Inspectable. Definition at line 105 of file sinecontroller.h.

virtual list<iparamval> getInternalParams (   )  const [inline, virtual]

The list of the names of all internal parameters given by getInternalParams(). Implements Inspectable. Definition at line 109 of file sinecontroller.h.

virtual int getMotorNumber (   )  const [inline, virtual]

Returns: Number of motors the controller was initialised with or 0 if not initialised Reimplemented from AbstractController. Definition at line 84 of file sinecontroller.h.

virtual paramkey getName (   )  const [inline, virtual]

returns the name of the object (with version number) Reimplemented from Configurable. Definition at line 75 of file sinecontroller.h.

Configurable::paramval getParam (  const paramkey &  key  )  const [virtual]

Definition at line 105 of file sinecontroller.cpp.

Configurable::paramlist getParamList (   )  const [virtual]

The list of all parameters with there value as allocated lists. Returns: list of key-value pairs Reimplemented from Configurable. Definition at line 118 of file sinecontroller.cpp.

virtual int getSensorNumber (   )  const [inline, virtual]

Returns: Number of sensors the controller was initialised with or 0 if not initialised Reimplemented from AbstractController. Definition at line 79 of file sinecontroller.h.

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 69 of file sinecontroller.cpp.

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

loads the controller values from a given file. This should include internal parameters as well as configurable values Reimplemented from AbstractController. Definition at line 124 of file sinecontroller.h.

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

Definition at line 111 of file sinecontroller.cpp.

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 from AbstractController. Definition at line 82 of file sinecontroller.cpp.

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

performs one step without learning. See also: step Reimplemented from AbstractController. Definition at line 90 of file sinecontroller.cpp.

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

stores the controller values to a given file. This should include internal parameters as well as configurable values Reimplemented from AbstractController. Definition at line 119 of file sinecontroller.h.

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Member Data Documentation

string name [protected]

Definition at line 130 of file sinecontroller.h.

int number_controlled [protected]

Definition at line 133 of file sinecontroller.h.

int number_motors [protected]

Definition at line 132 of file sinecontroller.h.

int number_sensors [protected]

Definition at line 131 of file sinecontroller.h.

paramval phaseShift [protected]

Definition at line 136 of file sinecontroller.h.

paramval sineRate [protected]

Definition at line 135 of file sinecontroller.h.

int t [protected]

Definition at line 124 of file sinecontroller.h.

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