Robot Simulator of the Robotics Group for Self-Organization of Control: measuremodes.h File Reference

# measuremodes.h File Reference

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## Enumerations
enum | MeasureMode { ID, AVG, MOVAVG, MED, MIN, MAX, PEAK, SUM, CONV, STEPDIFF, NORMSTEPDIFF }
| usage of the statistictools with different measure modes (examples): More...

## Enumeration Type Documentation

enum MeasureMode

usage of the statistictools with different measure modes (examples):

adds following measure: the force of the nimm2, ID = the force itself, 3 = has no effect? stats->addMeasure(myNimm2->getForce(), "force", ID, 3);

next: the average of the observed value (force), AVG = average, 50 = average over 50 timesteps (stepspan=50) stats->addMeasure(myNimm2->getForce(), "forceAvg50", AVG, 50);

next: the medium of the oserved value (force), MED = medium, 3 = medium over 3 timesteps (stepspan=3) stats->addMeasure(myNimm2->getForce(), "forceMed3", MED, 3);

next: the peak of the observed value above a given threshold stats->addMeasure(myNimm2->getForce(), "forcePeak1", PEAK, 0, 1.0); measure modes of statistical types. If you add a measure mode, you have naturally to implement this measuremode in statisticmeasure.cpp - see method StatisticMeasure::step() !

Enumerator:

  ID | returns the value to observe itself
  AVG | returns the average value
  MOVAVG | returns the moving average value
  MED | returns the median value
  MIN | returns the minimum value
  MAX | returns the maximum value
  PEAK | returns only values above defined limit
  SUM | returns the sum of the value generated over time (or stepSpan)
  CONV | returns 1 if convergence is reached, otherwise 0 convergence criteria (epsilon) is given by addMeasure, the convergence is reached if value is falling below the criteria of the measure time (stepSpan)
  STEPDIFF | returns the difference between two successive steps
  NORMSTEPDIFF | returns the difference between two successive steps, normalized with number of steps