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

# teachable.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 __TEACHABLE_H
    00025 #define __TEACHABLE_H
    00026
    00027 #include <selforg/matrix.h>
    00028
    00029 /**
    00030    Interface for teachable controller.
    00031 */
    00032 class Teachable {
    00033 public:
    00034
    00035   virtual ~Teachable() {}
    00036
    00037   /** The given motor teaching signal is used for this timestep.
    00038       It is used as a feed forward teaching signal for the controller.
    00039       Please note, that the teaching signal has to be given each timestep
    00040        for a continuous teaching process.
    00041      @param teaching: matrix with dimensions (motornumber,1)
    00042    */
    00043   virtual void setMotorTeaching(const matrix::Matrix& teaching) = 0;
    00044
    00045   /** The given sensor teaching signal (distal learning) is used for this timestep.
    00046       The belonging motor teachung signal is calculated by the inverse model.
    00047       See setMotorTeaching
    00048      @param teaching: matrix with dimensions (motorsensors,1)
    00049    */
    00050   virtual void setSensorTeaching(const matrix::Matrix& teaching) = 0;
    00051
    00052   /// returns the last motor values (useful for cross motor coupling)
    00053   virtual matrix::Matrix getLastMotorValues() = 0;
    00054
    00055   /// returns the last sensor values (useful for cross sensor coupling)
    00056   virtual matrix::Matrix getLastSensorValues() = 0;
    00057 };
    00058
    00059
    00060 #endif