selectiveone2onewiring.h

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00001 /***************************************************************************
00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
00003  *    martius@informatik.uni-leipzig.de                                    *
00004  *    fhesse@informatik.uni-leipzig.de                                     *
00005  *    der@informatik.uni-leipzig.de                                        *
00006  *                                                                         *
00007  *   This program is free software; you can redistribute it and/or modify  *
00008  *   it under the terms of the GNU General Public License as published by  *
00009  *   the Free Software Foundation; either version 2 of the License, or     *
00010  *   (at your option) any later version.                                   *
00011  *                                                                         *
00012  *   This program is distributed in the hope that it will be useful,       *
00013  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00014  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
00015  *   GNU General Public License for more details.                          *
00016  *                                                                         *
00017  *   You should have received a copy of the GNU General Public License     *
00018  *   along with this program; if not, write to the                         *
00019  *   Free Software Foundation, Inc.,                                       *
00020  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
00021  *                                                                         *
00022  *   $Log: selectiveone2onewiring.h,v $
00023  *   Revision 1.7  2010/01/26 09:50:19  martius
00024  *   comments
00025  *
00026  *   Revision 1.6  2009/08/05 22:45:25  martius
00027  *   added plotMode
00028  *
00029  *   Revision 1.5  2009/08/05 22:32:21  martius
00030  *   big change:
00031  *       abstractwiring is responsable for providing sensors and motors
00032  *        and noise to the inspectable interface.
00033  *       external interface: unchanged except plotMode in constructor
00034  *       internal interface: all subclasses have to overload
00035  *         initIntern, wireSensorsIntern, wireMotorsIntern
00036  *       All existing implementation are changed
00037  *
00038  *   Revision 1.4  2008/04/17 14:54:45  martius
00039  *   randomGen added, which is a random generator with long period and an
00040  *    internal state. Each Agent has an instance and passed it to the controller
00041  *    and the wiring. This is good for
00042  *   a) repeatability on agent basis,
00043  *   b) parallel execution as done in ode_robots
00044  *
00045  *   Revision 1.3  2006/12/21 11:44:17  martius
00046  *   commenting style for doxygen //< -> ///<
00047  *   FOREACH and FOREACHC are macros for collection iteration
00048  *
00049  *   Revision 1.2  2006/07/14 12:24:02  martius
00050  *   selforg becomes HEAD
00051  *
00052  *   Revision 1.1.2.1  2005/11/16 11:24:28  martius
00053  *   moved to selforg
00054  *
00055  *   Revision 1.2  2005/10/24 13:32:07  fhesse
00056  *   comments adjusted and in doxygen style
00057  *
00058  *   Revision 1.1  2005/08/22 17:28:13  martius
00059  *   a 1 to 1 wiring that supports the selection of some sensors only
00060  *
00061  *                                                                         *
00062  ***************************************************************************/
00063 #ifndef __SELECTIVEONE2ONEWIRING_H
00064 #define __SELECTIVEONE2ONEWIRING_H
00065 
00066 #include "one2onewiring.h"
00067 #include <functional>
00068 
00069 /** predicate to select sensors. 
00070     First parameter is the index 
00071     and the second parameter is the length (or number of sensors).
00072 */
00073 struct select_predicate : public std::binary_function< int,  int, bool> { 
00074   virtual ~select_predicate(){}
00075   virtual bool operator()( int index,  int len) { return true; }
00076 };
00077 
00078 struct select_all : public  select_predicate { };
00079 
00080 struct select_firsthalf : public  select_predicate {  
00081   virtual ~select_firsthalf(){}
00082   virtual bool operator()( int index,  int len) { return index < len/2; }
00083 };
00084 
00085 /// select sensors in the range \f[ [from, to] \f] (inclusively)
00086 struct select_from_to : public  select_predicate {   
00087   virtual ~select_from_to(){}
00088   select_from_to( int from,  int to) : from(from), to(to) {}
00089   virtual bool operator()( int index,  int len) { return (index >= from) && (index <= to); }
00090   int from;
00091   int to;
00092 };
00093 
00094 /** 
00095  *   Implements a selective one to one wiring of robot sensors to inputs of the controller 
00096  *   and controller outputs to robot motors. 
00097  */
00098 class SelectiveOne2OneWiring : public One2OneWiring{
00099 public:
00100   /** constructor
00101       @param noise NoiseGenerator that is used for adding noise to sensor values  
00102       @param sel_sensor binary predicate taking the index and the length (number of sensors) 
00103              and decides which sensor to select
00104   */
00105   SelectiveOne2OneWiring(NoiseGenerator* noise, select_predicate* sel_sensor, int plotMode = Controller);
00106   virtual ~SelectiveOne2OneWiring();
00107 
00108 protected:
00109   /** initializes the number of sensors and motors on robot side, calculate
00110       number of sensors and motors on controller side
00111   */
00112   virtual bool initIntern(int robotsensornumber, int robotmotornumber, RandGen* randGen=0);
00113 
00114   /// Realizes one to one wiring from robot sensors to controller sensors. 
00115   //   @param rsensors pointer to array of sensorvalues from robot 
00116   //   @param rsensornumber number of sensors from robot
00117   //   @param csensors pointer to array of sensorvalues for controller  
00118   //   @param csensornumber number of sensors to controller
00119   //   @param noise size of the noise added to the sensors
00120   virtual bool wireSensorsIntern(const sensor* rsensors, int rsensornumber, 
00121                                  sensor* csensors, int csensornumber,
00122                                  double noise);
00123 
00124 protected:  
00125   select_predicate* sel_sensor;
00126 
00127 };
00128 
00129 #endif
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