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

# abstractcontroller.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 __ABSTRACTCONTROLLER_H
    00025 #define __ABSTRACTCONTROLLER_H
    00026
    00027 #ifndef AVR
    00028
    00029 #include <stdio.h>
    00030 #include "configurable.h"
    00031 #include "inspectable.h"
    00032 #include "storeable.h"
    00033 #include "randomgenerator.h"
    00034
    00035 /**
    00036  * Abstract class (interface) for robot controller.
    00037  * The controller gets a number of input sensor values each timestep
    00038  *  and has to generate a number of output motor values.
    00039  *
    00040  * Interface assumes the following usage:
    00041  *  - init() is called first to initialise the dimension of sensor- and motor space
    00042  *  - each time step
    00043  *     either step() or stepNoLearning() is called to ask the controller for motor values.
    00044  */
    00045 class AbstractController : public Configurable, public Inspectable, public Storeable {
    00046 public:
    00047   typedef double sensor;
    00048   typedef double motor;
    00049
    00050   /// contructor (hint: use $ID$ for revision)
    00051   AbstractController(const std::string& name, const std::string& revision)
    00052     : Configurable(name, revision), Inspectable(name) {}
    00053
    00054   /** initialisation of the controller with the given sensor/ motornumber
    00055       Must be called before use. The random generator is optional.
    00056   */
    00057   virtual void init(int sensornumber, int motornumber, RandGen* randGen = 0)= 0;
    00058
    00059   /** @return Number of sensors the controller
    00060       was initialised with or 0 if not initialised */
    00061   virtual int getSensorNumber() const= 0;
    00062
    00063   /** @return Number of motors the controller
    00064       was initialised with or 0 if not initialised */
    00065   virtual int getMotorNumber() const= 0;
    00066
    00067   /** performs one step (includes learning).
    00068       Calculates motor commands from sensor inputs.
    00069       @param sensors sensors inputs scaled to [-1,1]
    00070       @param sensornumber length of the sensor array
    00071       @param motors motors outputs. MUST have enough space for motor values!
    00072       @param motornumber length of the provided motor array
    00073   */
    00074   virtual void step(const sensor* sensors, int sensornumber,
    00075                     motor* motors, int motornumber)= 0;
    00076   /** performs one step without learning.
    00077       @see step
    00078   */
    00079   virtual void stepNoLearning(const sensor* , int number_sensors,
    00080                               motor* , int number_motors)= 0;
    00081
    00082   /** called in motor babbling phase.
    00083       the motor values are given (by babbling controller) and
    00084       this controller can learn the basic relations from observed sensors/motors
    00085    */
    00086   virtual void motorBabblingStep(const sensor* , int number_sensors,
    00087                                  const motor* , int number_motors) {};
    00088 };
    00089
    00090 #else /* AVR */
    00091
    00092 #include "configurable.h"
    00093 #include "inspectable.h"
    00094 #include "storeable.h"
    00095 #include "randomgenerator.h"
    00096
    00097 /**
    00098  * Abstract class (interface) for robot controller.
    00099  * The controller gets a number of input sensor values each timestep
    00100  *  and has to generate a number of output motor values.
    00101  *
    00102  * Interface assumes the following usage:
    00103  *  - init() is called first to initialise the dimension of sensor- and motor space
    00104  *  - each time step
    00105  *     either step() or stepNoLearning() is called to ask the controller for motor values.
    00106  */
    00107 class AbstractController : public Configurable, public Inspectable, public Storeable {
    00108 public:
    00109   typedef double sensor;
    00110   typedef double motor;
    00111
    00112   /// contructor (hint: use $ID$ for revision)
    00113   AbstractController(const std::string& name, const std::string& revision)
    00114     : Configurable(name, revision) {}
    00115
    00116   /** initialisation of the controller with the given sensor/ motornumber
    00117       Must be called before use. The random generator is optional.
    00118   */
    00119   virtual void init(int sensornumber, int motornumber, RandGen* randGen = 0)= 0;
    00120
    00121   /** @return Number of sensors the controller
    00122       was initialised with or 0 if not initialised */
    00123   virtual int getSensorNumber() const= 0;
    00124
    00125   /** @return Number of motors the controller
    00126       was initialised with or 0 if not initialised */
    00127   virtual int getMotorNumber() const= 0;
    00128
    00129   /** performs one step (includes learning).
    00130       Calculates motor commands from sensor inputs.
    00131       @param sensors sensors inputs scaled to [-1,1]
    00132       @param sensornumber length of the sensor array
    00133       @param motors motors outputs. MUST have enough space for motor values!
    00134       @param motornumber length of the provided motor array
    00135   */
    00136   virtual void step(const sensor* sensors, int sensornumber,
    00137                     motor* motors, int motornumber)= 0;
    00138   /** performs one step without learning.
    00139       @see step
    00140   */
    00141   virtual void stepNoLearning(const sensor* , int number_sensors,
    00142                               motor* , int number_motors)= 0;
    00143
    00144 };
    00145
    00146 #endif /* !AVR */
    00147
    00148 #endif