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

# measureadapter.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 __MEASUREADAPTER_H
    00025 #define __MEASUREADAPTER_H
    00026
    00027 #include "abstractcontrolleradapter.h"
    00028 #include "backcaller.h"
    00029 #include "statistictools.h"
    00030 #include "complexmeasure.h"
    00031
    00032 // begin forward declaration
    00033 // end forward declaration
    00034
    00035 /**
    00036  * This is a passive controller adapter who is passive and can handle AbstractMeasures.
    00037  * Normally the sensor and/or motor values are measured.
    00038  * @see AbstractControllerAdapter
    00039  */
    00040 class MeasureAdapter : public AbstractControllerAdapter
    00041 {
    00042
    00043 public:
    00044
    00045   /**
    00046    * Constructs the MeasureAdapter.
    00047    *
    00048    */
    00049   MeasureAdapter(AbstractController* controller, const std::string& name = "MeasureAdapter", const std::string& revision = "$ID$");
    00050
    00051   virtual ~MeasureAdapter();
    00052
    00053   /**
    00054    * Adds a ComplexMeasure for measuring sensor values. For each
    00055    * sensor a ComplexMeasure is created.
    00056    */
    00057   virtual std::list<ComplexMeasure*> addSensorComplexMeasure(char* measureName, ComplexMeasureMode mode,int numberBins, int stepSize);
    00058
    00059   /****************************************************************************/
    00060   /*    BEGIN methods of AbstractController                                 */
    00061   /****************************************************************************/
    00062
    00063   /** initialisation of the controller with the given sensor/ motornumber
    00064   * Must NORMALLY be called before use. For all ControllerAdapters
    00065   * call first AbstractControllerAdapter::init(sensornumber,motornumber)
    00066   * if you overwrite this method
    00067   */
    00068   virtual void init(int sensornumber, int motornumber, RandGen* randGen = 0);
    00069
    00070   /** performs one step (includes learning).
    00071       Calculates motor commands from sensor inputs.
    00072   @param sensors sensors inputs scaled to [-1,1]
    00073   @param sensornumber length of the sensor array
    00074   @param motors motors outputs. MUST have enough space for motor values!
    00075   @param motornumber length of the provided motor array
    00076   */
    00077   virtual void step(const sensor* sensors, int sensornumber,
    00078                     motor* motors, int motornumber);
    00079
    00080   /** performs one step without learning.
    00081   @see step
    00082   */
    00083   virtual void stepNoLearning(const sensor* sensors , int sensornumber,
    00084                               motor* motors, int motornumber);
    00085
    00086   /****************************************************************************/
    00087   /*    END methods of AbstractController                                           */
    00088   /****************************************************************************/
    00089
    00090   /****************************************************************************/
    00091   /*    BEGIN methods of Storeable                                              */
    00092   /****************************************************************************/
    00093
    00094   /****************************************************************************/
    00095   /*    END methods of Storeable                                                    */
    00096   /****************************************************************************/
    00097
    00098   /****************************************************************************/
    00099   /*    BEGIN methods of Inspectable                                            */
    00100   /****************************************************************************/
    00101
    00102   // nothing to overwrite
    00103
    00104   /****************************************************************************/
    00105   /*    END methods of Inspectable                                                  */
    00106   /****************************************************************************/
    00107
    00108
    00109   virtual StatisticTools* getStatisticTools() { return st; }
    00110
    00111 protected:
    00112   StatisticTools* st;
    00113   bool initialized;
    00114   motor* motorValues;
    00115   sensor* sensorValues;
    00116
    00117 };
    00118
    00119 #endif