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

# splitcontrol.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 __SPLITCONTROL_H
    00025 #define __SPLITCONTROL_H
    00026
    00027 #include <selforg/abstractcontroller.h>
    00028 #include <selforg/onecontrollerperchannel.h>
    00029
    00030 #include <vector>
    00031 #include <functional>
    00032
    00033
    00034 /**
    00035  * class for using multiple controller with one robot. The connection is flexible.
    00036  * The controller are generated on the fly with a generator object.
    00037  *
    00038  */
    00039 class SplitControl : public AbstractController {
    00040 public:
    00041
    00042   struct Assoziation {
    00043     Assoziation();
    00044     void addSensorIdx(int s) { sensors.push_back(s);}
    00045     void addMotorIdx(int m)  { motors.push_back(m);}
    00046
    00047     std::list<int> sensors;
    00048     std::list<int> motors;
    00049   };
    00050   typedef std::vector<Assoziation> Assoziations;
    00051
    00052   /** @param controllerGenerator generator object for controller
    00053       @param assoziations list decribing which sensors and motors are connected to each controller
    00054       @param controllerName name
    00055       @param numCtrlCreateBeforeInit number of controller that are generated before the init function is called. Useful if they should be put into the inspectable list of the agent
    00056       @param numContextSensors number of context sensors (counted from the end)
    00057        passed to all controllers
    00058    */
    00059   SplitControl(ControllerGenerator* controllerGenerator,
    00060                const Assoziations& assoziations,
    00061                std::string controllerName,
    00062                int numCtrlCreateBeforeInit = 1,
    00063                int numContextSensors = 0
    00064                );
    00065
    00066   virtual ~SplitControl();
    00067
    00068
    00069   virtual void init(int sensornumber, int motornumber, RandGen* randGen = 0);
    00070
    00071   virtual void step(const sensor* sensors, int sensornumber,
    00072                     motor* motors, int motornumber);
    00073
    00074   virtual void stepNoLearning(const sensor* sensors , int sensornumber,
    00075                                     motor* motors, int motornumber);
    00076
    00077   virtual int getSensorNumber() const {return sensornumber; }
    00078   virtual int getMotorNumber() const  {return motornumber; }
    00079
    00080   /*********** STORABLE **************/
    00081
    00082   virtual bool store(FILE* f) const {return false;}
    00083
    00084   virtual bool restore(FILE* f) {return false;}
    00085
    00086
    00087   virtual std::vector<AbstractController*> getControllers() const { return ctrl;}
    00088
    00089 protected:
    00090   std::vector<AbstractController*> ctrl;
    00091
    00092
    00093   ControllerGenerator* controllerGenerator;
    00094   Assoziations assoz;
    00095   int numCtrlCreateBeforeInit;
    00096   int numContextSensors;
    00097   int motornumber;
    00098   int sensornumber;
    00099   double* sensorbuffer;
    00100   double* motorbuffer;
    00101 };
    00102
    00103 #endif