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

# abstractcontrolleradapter.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 __ABSTRACTCONTROLLERADAPTER_H
    00025 #define __ABSTRACTCONTROLLERADAPTER_H
    00026
    00027 #include "abstractcontroller.h"
    00028
    00029 #include <selforg/stl_adds.h>
    00030
    00031 /**
    00032  * Abstract adapter class (interface) for robot controller.
    00033  * The controller gets a number of input sensor values each timestep
    00034  *  and has to generate a number of output motor values.
    00035  *
    00036  * Interface assumes the following usage:
    00037  *  - init() is called first to initialise the dimension of sensor- and motor space
    00038  *  - each time step
    00039  *     either step() or stepNoLearning() is called to ask the controller for motor values.
    00040  *
    00041  * With the adapter class you can easily overwrite e.g. init(), step().
    00042  *
    00043  * This is an abstract adapter class, it's useful for implementing adapters such as the
    00044  * DescreteController, which can be used with all Controllers.
    00045  *
    00046  * Note that the configureable and inspectable classes are registered at this
    00047  *  adapter class.
    00048  *
    00049  *  The store and restore-functionality is lead through, thus only store() and restore()
    00050  *  from
    00051  */
    00052 class AbstractControllerAdapter : public AbstractController {
    00053 public:
    00054
    00055   AbstractControllerAdapter(AbstractController* controller, const std::string& name, const std::string& revision)
    00056     : AbstractController(name, revision), controller(controller)
    00057   {
    00058     //  register the inspectable and configureable controller
    00059     addConfigurable(controller);
    00060     addInspectable(controller);
    00061   }
    00062
    00063   virtual ~AbstractControllerAdapter() {}
    00064
    00065   /****************************************************************************/
    00066   /*    AbstractControllerAdapter must implement the following classes:         */
    00067   /*    AbstractController, Configurable, Inspectable, Storeable                    */
    00068   /****************************************************************************/
    00069
    00070
    00071   /****************************************************************************/
    00072   /*    BEGIN methods of AbstractController                                     */
    00073   /****************************************************************************/
    00074
    00075   /** initialisation of the controller with the given sensor/ motornumber
    00076    * Must NORMALLY be called before use. For all ControllerAdapters
    00077    * call first AbstractControllerAdapter::init(sensornumber,motornumber)
    00078    * if you overwrite this method
    00079    */
    00080   virtual void init(int sensornumber, int motornumber, RandGen* randGen = 0){
    00081     controller->init(sensornumber,motornumber);
    00082   }
    00083
    00084   /** @return Number of sensors the controller
    00085       was initialised with or 0 if not initialised */
    00086   virtual int getSensorNumber() const { return controller->getSensorNumber();}
    00087
    00088   /** @return Number of motors the controller
    00089       was initialised with or 0 if not initialised */
    00090   virtual int getMotorNumber() const {  return controller->getMotorNumber();}
    00091
    00092   /** performs one step (includes learning).
    00093       Calculates motor commands from sensor inputs.
    00094       @param sensors sensors inputs scaled to [-1,1]
    00095       @param sensornumber length of the sensor array
    00096       @param motors motors outputs. MUST have enough space for motor values!
    00097       @param motornumber length of the provided motor array
    00098   */
    00099   virtual void step(const sensor* sensors, int sensornumber,
    00100                     motor* motors, int motornumber) {
    00101     controller->step(sensors, sensornumber, motors,  motornumber);
    00102   }
    00103
    00104   /** performs one step without learning.
    00105       @see step
    00106   */
    00107   virtual void stepNoLearning(const sensor* sensors , int sensornumber,
    00108                               motor* motors, int motornumber) {
    00109     controller->stepNoLearning(sensors,sensornumber,motors,motornumber);
    00110   }
    00111
    00112   /****************************************************************************/
    00113   /*    END methods of AbstractController                                           */
    00114   /****************************************************************************/
    00115
    00116   /****************************************************************************/
    00117   /*    BEGIN methods of Configurable                                           */
    00118   /****************************************************************************/
    00119
    00120   // nothing needed to be overwrited
    00121
    00122   /****************************************************************************/
    00123   /*    END methods of Configurable                                                 */
    00124   /****************************************************************************/
    00125
    00126   /****************************************************************************/
    00127   /*    BEGIN methods of Inspectable                                            */
    00128   /****************************************************************************/
    00129
    00130   // nothing needed to be overwrited
    00131
    00132   /****************************************************************************/
    00133   /*    END methods of Inspectable                                                  */
    00134   /****************************************************************************/
    00135
    00136   /****************************************************************************/
    00137   /*    BEGIN methods of Storable                                               */
    00138   /****************************************************************************/
    00139
    00140   /********* STORABLE INTERFACE ******/
    00141   /// @see Storable
    00142   virtual bool store(FILE* f) const {
    00143     return controller->store(f);
    00144   }
    00145
    00146   /// @see Storable
    00147   virtual bool restore(FILE* f) {
    00148     return controller->restore(f);
    00149   }
    00150
    00151
    00152   /****************************************************************************/
    00153   /*    END methods of Storable                                             */
    00154   /****************************************************************************/
    00155
    00156
    00157 protected:
    00158   AbstractController* controller; // the controller for the adapter to handle
    00159
    00160 };
    00161
    00162 #endif