one2onewiring.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: one2onewiring.h,v $
00023  *   Revision 1.7  2010/01/26 09:50:19  martius
00024  *   comments
00025  *
00026  *   Revision 1.6  2009/08/05 22:32:21  martius
00027  *   big change:
00028  *       abstractwiring is responsable for providing sensors and motors
00029  *        and noise to the inspectable interface.
00030  *       external interface: unchanged except plotMode in constructor
00031  *       internal interface: all subclasses have to overload
00032  *         initIntern, wireSensorsIntern, wireMotorsIntern
00033  *       All existing implementation are changed
00034  *
00035  *   Revision 1.5  2008/04/17 14:54:45  martius
00036  *   randomGen added, which is a random generator with long period and an
00037  *    internal state. Each Agent has an instance and passed it to the controller
00038  *    and the wiring. This is good for
00039  *   a) repeatability on agent basis,
00040  *   b) parallel execution as done in ode_robots
00041  *
00042  *   Revision 1.4  2007/11/29 19:18:02  martius
00043  *   blind channels
00044  *
00045  *   Revision 1.3  2006/07/20 17:14:36  martius
00046  *   removed std namespace from matrix.h
00047  *   storable interface
00048  *   abstract model and invertablemodel as superclasses for networks
00049  *
00050  *   Revision 1.2  2006/07/14 12:24:02  martius
00051  *   selforg becomes HEAD
00052  *
00053  *   Revision 1.1.2.1  2005/11/16 11:24:28  martius
00054  *   moved to selforg
00055  *
00056  *   Revision 1.9  2005/10/28 12:05:54  martius
00057  *   new inspectable interface
00058  *
00059  *   Revision 1.8  2005/10/24 13:32:07  fhesse
00060  *   comments adjusted and in doxygen style
00061  *
00062  *   Revision 1.7  2005/10/06 17:11:37  martius
00063  *   switched to stl lists
00064  *
00065  *   Revision 1.6  2005/08/31 11:10:52  martius
00066  *   noise -> noisevals
00067  *
00068  *   Revision 1.5  2005/08/03 20:34:58  martius
00069  *   use if Inspectable interface
00070  *
00071  *   Revision 1.4  2005/07/21 15:14:47  martius
00072  *   wireSensors and wireMotors get constant fields
00073  *
00074  *   Revision 1.3  2005/07/18 14:44:27  martius
00075  *   noise moved into wiring
00076  *
00077  *   Revision 1.2  2005/07/18 10:15:03  martius
00078  *   noise is added here
00079  *
00080  *   Revision 1.1  2005/07/14 15:57:54  fhesse
00081  *   now agent contains controller, robot and wiring, plotting ability included, therefore plotagent can be removed; ono2onewiring replaces one2oneagent
00082  *                                            *
00083  *                                                                         *
00084  ***************************************************************************/
00085 #ifndef __ONE2ONEWIRING_H
00086 #define __ONE2ONEWIRING_H
00087 
00088 #include "abstractwiring.h"
00089 
00090 /** Implements one to one wiring of robot sensors to inputs of the controller 
00091     and controller outputs to robot motors. 
00092  */
00093 class One2OneWiring :public AbstractWiring{
00094 public:
00095   /** constructor
00096       @param noise NoiseGenerator that is used for adding noise to sensor values  
00097       @param plotMode see AbstractWiring 
00098       @param blind number of blind channels
00099         (additional sensors and motors coupled directly)
00100    */
00101   One2OneWiring(NoiseGenerator* noise, int plotMode=Controller, int blind=0);
00102 
00103   /** destructor
00104    */
00105   virtual ~One2OneWiring();
00106 
00107 protected:
00108 
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   */
00121   virtual bool wireSensorsIntern(const sensor* rsensors, int rsensornumber, 
00122                            sensor* csensors, int csensornumber,
00123                            double noise);
00124 
00125   /** Realizes one to one wiring from controller motor outputs to robot motors. 
00126       @param rmotors pointer to array of motorvalues for robot 
00127       @param rmotornumber number of robot motors 
00128       @param cmotors pointer to array of motorvalues from controller  
00129       @param cmotornumber number of motorvalues from controller
00130   */
00131   virtual bool wireMotorsIntern(motor* rmotors, int rmotornumber,
00132                           const motor* cmotors, int cmotornumber);
00133 
00134 
00135 protected:
00136   int blind; /// number of blind channels
00137   /// blind motor values
00138   motor* blindmotors;
00139 
00140 };
00141 
00142 #endif
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