Robot Simulator of the Robotics Group for Self-Organization of Control: sos.h Source File

# sos.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005-2011 by                                            *
    00003  *    Georg Martius  <georg dot martius at web dot de>                     *
    00004  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
    00005  *                                                                         *
    00006  *   ANY COMMERCIAL USE FORBIDDEN!                                         *
    00007  *   LICENSE:                                                              *
    00008  *   This work is licensed under the Creative Commons                      *
    00009  *   Attribution-NonCommercial-ShareAlike 2.5 License. To view a copy of   *
    00010  *   this license, visit http://creativecommons.org/licenses/by-nc-sa/2.5/ *
    00011  *   or send a letter to Creative Commons, 543 Howard Street, 5th Floor,   *
    00012  *   San Francisco, California, 94105, USA.                                *
    00013  *                                                                         *
    00014  *   This program is distributed in the hope that it will be useful,       *
    00015  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00016  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.                  *
    00017  *                                                                         *
    00018  ***************************************************************************/
    00019 #ifndef __SOS_H
    00020 #define __SOS_H
    00021
    00022 #include <selforg/abstractcontroller.h>
    00023 #include <selforg/controller_misc.h>
    00024
    00025 #include <assert.h>
    00026 #include <cmath>
    00027
    00028 #include <selforg/matrix.h>
    00029
    00030 /**
    00031  * This controller implements the standard algorihm described the Chapter 5 (Homeokinesis)
    00032  *  of book "The Playful Machine"
    00033  */
    00034 class Sos : public AbstractController {
    00035
    00036 public:
    00037   Sos(double init_feedback_strength = 1.0);
    00038   virtual void init(int sensornumber, int motornumber, RandGen* randGen = 0);
    00039
    00040   virtual ~Sos();
    00041
    00042   /// returns the number of sensors the controller was initialised with or 0 if not initialised
    00043   virtual int getSensorNumber() const { return number_sensors; }
    00044   /// returns the mumber of motors the controller was initialised with or 0 if not initialised
    00045   virtual int getMotorNumber() const  { return number_motors; }
    00046
    00047   /// performs one step (includes learning).
    00048   /// Calulates motor commands from sensor inputs.
    00049   virtual void step(const sensor* , int number_sensors, motor* , int number_motors);
    00050
    00051
    00052   /// performs one step without learning. Calulates motor commands from sensor inputs.
    00053   virtual void stepNoLearning(const sensor* , int number_sensors,
    00054                               motor* , int number_motors);
    00055
    00056
    00057   /***** STOREABLE ****/
    00058   /** stores the controller values to a given file. */
    00059   virtual bool store(FILE* f) const;
    00060   /** loads the controller values from a given file. */
    00061   virtual bool restore(FILE* f);
    00062
    00063   /* some direct access functions (unsafe!) */
    00064   virtual matrix::Matrix getA();
    00065   virtual void setA(const matrix::Matrix& A);
    00066   virtual matrix::Matrix getC();
    00067   virtual void setC(const matrix::Matrix& C);
    00068   virtual matrix::Matrix geth();
    00069   virtual void seth(const matrix::Matrix& h);
    00070
    00071 protected:
    00072   unsigned short number_sensors;
    00073   unsigned short number_motors;
    00074   static const unsigned short buffersize = 10;
    00075
    00076   matrix::Matrix A; // Model Matrix
    00077   matrix::Matrix C; // Controller Matrix
    00078   matrix::Matrix h; // Controller Bias
    00079   matrix::Matrix b; // Model Bias
    00080   matrix::Matrix L; // Jacobi Matrix
    00081   matrix::Matrix y_buffer[buffersize]; // buffer needed for delay
    00082   matrix::Matrix x_buffer[buffersize]; // buffer of sensor values
    00083   matrix::Matrix v_avg;
    00084   matrix::Matrix x;        // current sensor value vector
    00085   matrix::Matrix x_smooth; // time average of x values
    00086   int t;
    00087   bool TLE;
    00088   bool loga;
    00089
    00090   double init_feedback_strength;
    00091
    00092   paramval creativity;
    00093   paramval epsC;
    00094   paramval epsA;
    00095   paramint s4avg;          // # of steps the sensors are averaged (1 means no averaging)
    00096   paramint s4delay;        // # of steps the motor values are delayed (1 means no delay)
    00097
    00098
    00099   /// learn values model and controller (A,b,C,h)
    00100   virtual void learn();
    00101
    00102   /// neuron transfer function
    00103   static double g(double z)
    00104   {
    00105     return tanh(z);
    00106   };
    00107
    00108   /// derivative of g
    00109   static double g_s(double z)
    00110   {
    00111     double k=tanh(z);
    00112     return 1.0 - k*k;
    00113   };
    00114
    00115   /// function that clips the second argument to the interval [-first,first]
    00116   static double clip(double r, double x){
    00117     return min(max(x,-r),r);
    00118   }
    00119   /// calculates the inverse the argument (useful for Matrix::map)
    00120   static double one_over(double x){
    00121     return 1/x;
    00122   }
    00123
    00124
    00125 };
    00126
    00127 #endif
    00128
    00129