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

# statisticmeasure.h

Go to the documentation of this file.

    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 _STATISTIC_MEASURE_H
    00025 #define _STATISTIC_MEASURE_H
    00026
    00027 #include "abstractmeasure.h"
    00028 #include "measuremodes.h"
    00029
    00030 /**
    00031  * Class used by StatisticTools.
    00032  * Provides
    00033  */
    00034 class StatisticMeasure : public AbstractMeasure
    00035 {
    00036
    00037 public:
    00038   StatisticMeasure(double& observedValue, const char* measureName, MeasureMode mode, long stepSpan, double additionalParam);
    00039
    00040   virtual ~StatisticMeasure() {}
    00041
    00042   virtual void step();
    00043
    00044 protected:
    00045   double& observedValue; // the observed value from which the statistic is made
    00046   MeasureMode mode; // the MeasureMode, e.g. ID, AVG, MED, PEAK, CONV,...
    00047   long stepSpan; // determines the size of valueHistory
    00048   double additionalParam;
    00049   long oldestStepIndex; // indicates the index number in the valueHistory, which was the oldest step
    00050   long newestStepIndex; // indicates the index number with the newest value, this is the oldestStepIndex one step before
    00051
    00052   double* valueHistory;
    00053
    00054   void internInit();
    00055
    00056
    00057   /**************************************************************************************************/
    00058   /* all the functions for calculating the values are below this line, add new variables if needed  */
    00059
    00060   virtual double calculateSumValue();
    00061
    00062   virtual double calculateAverageValue();
    00063
    00064   virtual double calculateMovingAverageValue();
    00065
    00066   virtual double calculateStepDifference();
    00067
    00068   virtual double calculateNormalizedStepDifference();
    00069
    00070   /* BEGIN convergence SECTION */
    00071   virtual double testConvergence();
    00072   // stores how much steps the convergence is reached,
    00073   // if stepsReached==stepSpan, convergence criteria is 1, otherwise 0
    00074   long stepsReached;
    00075   /* END convergence SECTION */
    00076
    00077
    00078
    00079
    00080 };
    00081
    00082 #endif