Robot Simulator of the Robotics Group for Self-Organization of Control: one2onewiring.h Source File

# one2onewiring.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 __ONE2ONEWIRING_H
    00025 #define __ONE2ONEWIRING_H
    00026
    00027 #include "abstractwiring.h"
    00028
    00029 /** Implements one to one wiring of robot sensors to inputs of the controller
    00030     and controller outputs to robot motors.
    00031  */
    00032 class One2OneWiring :public AbstractWiring{
    00033 public:
    00034   /** constructor
    00035       @param noise NoiseGenerator that is used for adding noise to sensor values
    00036       @param plotMode see AbstractWiring
    00037       @param blind number of blind channels
    00038         (additional sensors and motors coupled directly)
    00039    */
    00040   One2OneWiring(NoiseGenerator* noise, int plotMode=Controller, int blind=0, const std::string& name = "One2OneWiring");
    00041
    00042   /** destructor
    00043    */
    00044   virtual ~One2OneWiring();
    00045
    00046 protected:
    00047
    00048   /** initializes the number of sensors and motors on robot side, calculate
    00049       number of sensors and motors on controller side
    00050    */
    00051   virtual bool initIntern();
    00052
    00053   /** Realizes one to one wiring from robot sensors to controller sensors.
    00054       @param rsensors pointer to array of sensorvalues from robot
    00055       @param rsensornumber number of sensors from robot
    00056       @param csensors pointer to array of sensorvalues for controller
    00057       @param csensornumber number of sensors to controller
    00058       @param noise size of the noise added to the sensors
    00059   */
    00060   virtual bool wireSensorsIntern(const sensor* rsensors, int rsensornumber,
    00061                            sensor* csensors, int csensornumber,
    00062                            double noise);
    00063
    00064   /** Realizes one to one wiring from controller motor outputs to robot motors.
    00065       @param rmotors pointer to array of motorvalues for robot
    00066       @param rmotornumber number of robot motors
    00067       @param cmotors pointer to array of motorvalues from controller
    00068       @param cmotornumber number of motorvalues from controller
    00069   */
    00070   virtual bool wireMotorsIntern(motor* rmotors, int rmotornumber,
    00071                           const motor* cmotors, int cmotornumber);
    00072
    00073
    00074 protected:
    00075   int blind; /// number of blind channels
    00076   /// blind motor values
    00077   motor* blindmotors;
    00078
    00079 };
    00080
    00081 #endif