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

# measuremodes.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 _MEASUREMODES_H
    00025 #define _MEASUREMODES_H
    00026
    00027 /**
    00028  * usage of the statistictools with different measure modes (examples):
    00029  *
    00030  * adds following measure: the force of the nimm2, ID = the force itself,
    00031  * 3 = has no effect?
    00032  * stats->addMeasure(myNimm2->getForce(), "force", ID, 3);
    00033  *
    00034  * next: the average of the observed value (force), AVG = average,
    00035  * 50 = average over 50 timesteps (stepspan=50)
    00036  * stats->addMeasure(myNimm2->getForce(), "forceAvg50", AVG, 50);
    00037  *
    00038  * next: the medium of the oserved value (force), MED = medium,
    00039  * 3 = medium over 3 timesteps (stepspan=3)
    00040  * stats->addMeasure(myNimm2->getForce(), "forceMed3", MED, 3);
    00041  *
    00042  * next: the peak of the observed value above a given threshold
    00043  * stats->addMeasure(myNimm2->getForce(), "forcePeak1", PEAK, 0, 1.0);
    00044  *
    00045  *
    00046  */
    00047
    00048
    00049 /** measure modes of statistical types. If you add a measure mode, you have
    00050  *  naturally to implement this measuremode in statisticmeasure.cpp -
    00051  *  see method StatisticMeasure::step() !
    00052  */
    00053 enum MeasureMode {
    00054         /// returns the value to observe itself
    00055         ID,
    00056         /// returns the average value
    00057                 AVG,
    00058         /// returns the moving average value
    00059                 MOVAVG,
    00060         /// returns the median value
    00061                 MED,
    00062         /// returns the minimum value
    00063                 MIN,
    00064         /// returns the maximum value
    00065                 MAX,
    00066         /// returns only values above defined limit
    00067                 PEAK,
    00068         /// returns the sum of the value generated over time (or stepSpan)
    00069                 SUM,
    00070         /// returns 1 if convergence is reached, otherwise 0
    00071         /// convergence criteria (epsilon) is given by addMeasure, the convergence
    00072         /// is reached if value is falling below the criteria of the measure time (stepSpan)
    00073                 CONV,
    00074     /// returns the difference between two successive steps
    00075         STEPDIFF,
    00076     /// returns the difference between two successive steps, normalized with number of steps
    00077     NORMSTEPDIFF
    00078 };
    00079
    00080 #endif