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

# onecontrollerperchannel.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 __ONECONTROLLERPERCHANNEL_H
    00025 #define __ONECONTROLLERPERCHANNEL_H
    00026
    00027 #include <selforg/abstractcontroller.h>
    00028 #include <vector>
    00029 #include <functional>
    00030
    00031
    00032 /** generator for controller
    00033
    00034     derive a struct and overload the operator. For example:
    00035
    00036     struct ControlGen : public ControllerGenerator {
    00037       virtual ~ControlGen(){}
    00038       virtual AbstractController* operator()( int index) {
    00039        AbstractController* c;
    00040         c= new Sox(0.8);
    00041         c->setParam("epsC",0.02);
    00042         c->setParam("epsA",0.01);
    00043        return c;
    00044       }
    00045     };
    00046
    00047     // to see the values in the inspectable do after
    00048     agent = new OdeAgent(global);
    00049     // this line
    00050     agent->addInspectable(((OneControllerPerChannel*)controller)->getControllers()[0]);
    00051     ....
    00052     Make sure you initialize the OneControllerPerChannel with sufficiently many initial controller.
    00053
    00054 */
    00055 struct ControllerGenerator : public std::unary_function< int,  AbstractController*> {
    00056   virtual ~ControllerGenerator(){}
    00057   virtual AbstractController* operator()( int index) = 0;
    00058 };
    00059
    00060
    00061 /**
    00062  * class for using multiple controller, one for each joint. Each controller
    00063  * has dimension 1x1. The controller are generated on the fly with a generator object
    00064  *
    00065  */
    00066 class OneControllerPerChannel : public AbstractController {
    00067 public:
    00068
    00069   /** @param controllerGenerator generator object for controller
    00070       @param controllerName name
    00071       @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
    00072       @param numContextSensors number of context sensors (counted from the end)
    00073        passed to all controllers
    00074    */
    00075   OneControllerPerChannel(ControllerGenerator* controllerGenerator,
    00076                           std::string controllerName,
    00077                           int numCtrlCreateBeforeInit = 1,
    00078                           int numContextSensors = 0
    00079                           );
    00080
    00081   virtual ~OneControllerPerChannel();
    00082
    00083
    00084   virtual void init(int sensornumber, int motornumber, RandGen* randGen = 0);
    00085
    00086   virtual void step(const sensor* sensors, int sensornumber,
    00087                     motor* motors, int motornumber);
    00088
    00089   virtual void stepNoLearning(const sensor* sensors , int sensornumber,
    00090                                     motor* motors, int motornumber);
    00091
    00092   virtual int getSensorNumber() const {return sensornumber; }
    00093   virtual int getMotorNumber() const  {return motornumber; }
    00094
    00095   /*********** STORABLE **************/
    00096
    00097   virtual bool store(FILE* f) const;
    00098
    00099   virtual bool restore(FILE* f);
    00100
    00101
    00102   virtual std::vector<AbstractController*> getControllers() const { return ctrl;}
    00103
    00104 protected:
    00105   std::vector<AbstractController*> ctrl;
    00106   ControllerGenerator* controllerGenerator;
    00107   int numCtrlCreateBeforeInit;
    00108   int numContextSensors;
    00109   int motornumber;
    00110   int sensornumber;
    00111   double* sensorbuffer;
    00112 };
    00113
    00114 #endif