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

# selectivenoisewiring.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 __SELECTIVENOISEWIRING_H
    00025 #define __SELECTIVENOISEWIRING_H
    00026
    00027 #include <selforg/one2onewiring.h>
    00028 #include <vector>
    00029
    00030 /**
    00031  * Implements a one to one wiring
    00032  *  and allows to select the noise strength per sensor channel
    00033  */
    00034 class SelectiveNoiseWiring : public One2OneWiring {
    00035 public:
    00036   /** constructor
    00037       @param noise NoiseGenerator that is used for adding noise to motor values
    00038       @param noiseStrengths for each channel the noise strength
    00039        (no noise if channel is out of array bounds)
    00040       @param plotMode see AbstractWiring
    00041   */
    00042   SelectiveNoiseWiring(NoiseGenerator* noise, std::vector<double> noiseStrengths,
    00043                        int plotMode=Controller)
    00044     : One2OneWiring(noise, plotMode), noiseStrengths(noiseStrengths) {
    00045   }
    00046   virtual ~SelectiveNoiseWiring(){}
    00047
    00048   virtual bool wireSensorsIntern(const sensor* rsensors, int rsensornumber,
    00049                                  sensor* csensors, int csensornumber, double noise){
    00050     assert(rsensornumber == this->rsensornumber);
    00051     assert(csensornumber == this->csensornumber);
    00052     // the noisevals are set in abstractwiring
    00053     for(int i=0; i< rsensornumber; i++){
    00054       csensors[i] = rsensors[i] + getNoiseStrength(i)*noisevals[i];
    00055     }
    00056     return true;
    00057   }
    00058
    00059 protected:
    00060   double getNoiseStrength(unsigned int i){
    00061     if(i>=noiseStrengths.size()) return 0;
    00062     else return noiseStrengths[i];
    00063   }
    00064
    00065   std::vector<double> noiseStrengths;
    00066
    00067 };
    00068
    00069 #endif