Robot Simulator of the Robotics Group for Self-Organization of Control: selectiveone2onewiring.h Source File

# selectiveone2onewiring.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005-2011 LpzRobots development team                    *
    00003  *    Georg Martius  <georg dot martius at web dot de>                     *
    00004  *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
    00005  *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
    00006  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  ***************************************************************************/
    00024 #ifndef __SELECTIVEONE2ONEWIRING_H
    00025 #define __SELECTIVEONE2ONEWIRING_H
    00026
    00027 #include "one2onewiring.h"
    00028 #include <functional>
    00029
    00030 /** predicate to select sensors.
    00031     First parameter is the index
    00032     and the second parameter is the length (or number of sensors).
    00033 */
    00034 struct select_predicate : public std::binary_function< int,  int, bool> {
    00035   virtual ~select_predicate(){}
    00036   virtual bool operator()( int index,  int len) { return true; }
    00037 };
    00038
    00039 struct select_all : public  select_predicate { };
    00040
    00041 struct select_firsthalf : public  select_predicate {
    00042   virtual ~select_firsthalf(){}
    00043   virtual bool operator()( int index,  int len) { return index < len/2; }
    00044 };
    00045
    00046 /// select sensors in the range \f[ [from, to] \f] (inclusively)
    00047 struct select_from_to : public  select_predicate {
    00048   virtual ~select_from_to(){}
    00049   select_from_to( int from,  int to) : from(from), to(to) {}
    00050   virtual bool operator()( int index,  int len) { return (index >= from) && (index <= to); }
    00051   int from;
    00052   int to;
    00053 };
    00054
    00055 /**
    00056  *   Implements a selective one to one wiring of robot sensors to inputs of the controller
    00057  *   and controller outputs to robot motors.
    00058  */
    00059 class SelectiveOne2OneWiring : public One2OneWiring{
    00060 public:
    00061   /** constructor
    00062       @param noise NoiseGenerator that is used for adding noise to sensor values
    00063       @param sel_sensor binary predicate taking the index and the length (number of sensors)
    00064              and decides which sensor to select
    00065   */
    00066   SelectiveOne2OneWiring(NoiseGenerator* noise, select_predicate* sel_sensor, int plotMode = Controller, const std::string& name = "SelectiveOne2OneWiring");
    00067   virtual ~SelectiveOne2OneWiring();
    00068
    00069 protected:
    00070   virtual bool initIntern();
    00071
    00072   virtual bool wireSensorsIntern(const sensor* rsensors, int rsensornumber,
    00073                                  sensor* csensors, int csensornumber,
    00074                                  double noise);
    00075
    00076 protected:
    00077   select_predicate* sel_sensor;
    00078
    00079 };
    00080
    00081 #endif