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

# invertablemodel.h

Go to the documentation of this file.

    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 __INVERTABLENN_H
    00025 #define __INVERTABLENN_H
    00026
    00027 #include "matrix.h"
    00028 #include "abstractmodel.h"
    00029
    00030 /** abstract class (interface) for invertable models.
    00031     Invertable models provide a linear response function (jacobian)
    00032 */
    00033 class InvertableModel : public AbstractModel {
    00034  public:
    00035   // 20110317, guettler: disabled default constructor since it is not needed and would cause difficulties
    00036   //InvertableModel() {};
    00037   InvertableModel(const std::string& name, const std::string& revision)
    00038     : AbstractModel(name, revision) {}
    00039   virtual ~InvertableModel(){};
    00040
    00041   /** calculates the partial derivative of the of the output with repect to the input (Jacobi matrix).
    00042
    00043       \f[J_{ij} = \frac{\partial output_i}{\partial input_j}\f]
    00044
    00045       The result is a matrix of dimension (outputdim x inputdim)
    00046    */
    00047   virtual const matrix::Matrix response(const matrix::Matrix& input) const = 0;
    00048
    00049   /** calculates the input shift v to given output shift xsi via pseudo inversion.
    00050
    00051       \f[o+\xi = \pi(i+v)\f]
    00052
    00053       The result is a vector of dimension inputdim
    00054    */
    00055   virtual const matrix::Matrix inversion(const matrix::Matrix& input, const matrix::Matrix& xsi) const = 0;
    00056
    00057
    00058 };
    00059
    00060
    00061 #endif