ffnncontroller.h
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00044 #ifndef __FFNNCONTROLLER_H
00045 #define __FFNNCONTROLLER_H
00046
00047 #include "abstractcontroller.h"
00048 #include <assert.h>
00049 #include <cmath>
00050
00051 #include <selforg/matrix.h>
00052 #include <selforg/multilayerffnn.h>
00053
00054
00055
00056
00057 class FFNNController : public AbstractController {
00058
00059 public:
00060
00061
00062
00063
00064
00065
00066 FFNNController(const std::string& networkfilename, int history, bool input_only_x, unsigned int init_wait=0);
00067
00068
00069
00070
00071
00072
00073
00074 FFNNController(MultiLayerFFNN* net, int history, bool input_only_x, unsigned int init_wait=0);
00075
00076 virtual void init(int sensornumber, int motornumber, RandGen* randGen = 0);
00077
00078 virtual ~FFNNController();
00079
00080
00081 virtual int getSensorNumber() const { return number_sensors; }
00082
00083 virtual int getMotorNumber() const { return number_motors; }
00084
00085 virtual void step(const sensor* , int number_sensors, motor* , int number_motors);
00086 virtual void stepNoLearning(const sensor* , int number_sensors,
00087 motor* , int number_motors);
00088
00089
00090
00091 virtual bool store(FILE* f) const;
00092
00093 virtual bool restore(FILE* f);
00094
00095
00096 virtual std::list<iparamkey> getInternalParamNames()const { return std::list<iparamkey>(); }
00097 virtual std::list<iparamval> getInternalParams() const { return std::list<iparamval>(); }
00098
00099
00100 virtual paramval getParam(const paramkey& key) const;
00101 virtual bool setParam(const paramkey& key, paramval val);
00102 virtual paramlist getParamList() const ;
00103
00104 protected:
00105 void putInBuffer(matrix::Matrix* buffer, const matrix::Matrix& vec, int delay = 0);
00106
00107 matrix::Matrix calculateSmoothValues(const matrix::Matrix* buffer, int number_steps_for_averaging_) const;
00108
00109 virtual matrix::Matrix assembleNetworkInputXY(matrix::Matrix* xbuffer, matrix::Matrix* ybuffer) const;
00110
00111 virtual matrix::Matrix assembleNetworkInputX(matrix::Matrix* xbuffer, matrix::Matrix* ybuffer) const;
00112
00113 virtual matrix::Matrix assembleNetworkOutput(const matrix::Matrix& output) const;
00114
00115
00116 protected:
00117 unsigned short number_motors;
00118 unsigned short number_sensors;
00119 unsigned short history;
00120 unsigned short buffersize;
00121 bool input_only_x;
00122 unsigned short s4avg;
00123 unsigned int t;
00124 unsigned int init_wait;
00125
00126 matrix::Matrix* x_buffer;
00127 matrix::Matrix* y_buffer;
00128 matrix::Matrix x_smooth;
00129
00130 MultiLayerFFNN* net;
00131 bool initialised;
00132
00133 };
00134
00135 #endif