Robot Simulator of the Robotics Group for Self-Organization of Control: Class List

# Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

__DerivativeWiringConf | Configuration object for DerivativeWiring
_RandGen | Random generator with 48bit integer arithmentic
AbstractController | Abstract class (interface) for robot controller
AbstractControllerAdapter | Abstract adapter class (interface) for robot controller
AbstractGround |
AbstractIAFController | Abstract class (interface) for robot controller that uses an integrate and fire neuron model
AbstractIAFControllerConf |
AbstractMeasure | Class used by StatisticTools
AbstractModel | Abstract class (interface) for a model that can be used by a controller
AbstractMultiController | Abstract class (interface) for using multiple controller
AbstractObstacle | Abstract class (interface) for obstacles
AbstractRobot | Abstract class (interface) for robot in general
AbstractTrackSection | Abstract class (interface) for obstacles
AbstractWiring | Abstract wiring-object between controller and robot
AddSensors2RobotAdapter | Robot adapter to add sensors and also motors to robots without the need to modify the robot itself
Agent | The Agent contains a controller, a robot and a wiring, which connects robot and controller
AmosII |
AmosIIConf |
AngularMotor | Abstract angular motor class
AngularMotor1Axis | Angular motor for OneAxisJoints
AngularMotor2Axis | Angular motor for TwoAxisJoints
AngularMotor3AxisEuler | Angular motor for Ball Joints with Euler control
AngularMotorNAxis | Angular motor for arbitrary Joints with custom axis (up to 3)
AnisotropFrictionData |
Arm |
Arm2Segm |
Arm2SegmConf |
ArmConf |
ArrayElement |
Assoziation |
AvgImgProc | Time average of image
Axis |
AxisOrientationSensor | Class for sensing the axis orienation of a primitive (robot)
BackCaller | Class prototype which provides functions to handle callbackable classes
BackCallerVector< _Tp, _Alloc > | Establishes for some methods the notifications for registered Callbackable instances (use addCallbackable(
BallJoint |
Barrel2Masses | A barrel-like robot with 2 internal masses, which can slide on their orthogonal axes
Barrel2Masses2nd | A barrel-like robot with 2 internal masses, which can slide on their orthogonal axes
Base |
BoundingShape | Class for reading bounding shape description files (.bbox) and to create appropriate geoms
Box | Box primitive
Boxpile | Boxpile
BoxRingOperator | An Operator for keeping robots within a sphere / box
Braitenberg | Simple braitenberg controler type 2 a and b (Aggressive,Cowardly)
Bumper |
BWImageProcessor | Black and white image
Callbackable | Interface class for a class which wants to be callback on a certain action
Camera | A Robot Camera
CameraConf |
CameraHandle | Class which holds all data used by CameraManipulators
CameraImage | Structure to store the image data and information for display
CameraManipulator | CameraManipulator is a MatrixManipulator which provides a flying camera updating of the camera position & orientation
CameraManipulatorFollow | CameraManipulatorFollow is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation
CameraManipulatorRace | CameraManipulatorRace is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation
CameraManipulatorTV | CameraManipulatorTV is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation
CameraSensor | Class to connect a Camera as a sensor to a robot
Capsule | Capsule primitive
CaterPillar | This is a class, which models a snake like robot
CaterPillarConf |
ClassicReinforce | Class for robot controller using several feedforward networks (satelite) and one selforg controller
ClassicReinforceConf |
Clock | A cross-platform clock class inspired by the Timer classes in Ogre (http://www.ogre3d.org)
ClosedPlayground |
Color |
ColorFilterImgProc | Filters for a specific color (requires HSV, so use HSVImgProc before)
ColorNormalNoise | Like ColorUniformNoise but averaging over normal distributed noise instead
ColorSchema | A store for colors with a set of aliases
ColorUniformNoise | Generated colored noise. This is obtained by using time average of uniform distributed noise
COMMAND |
ComplexMeasure |
ComplexPlayground | Playground that uses an xfig file with polylines linetype 0 is normal wall linetype 1 is border thickness is used as well, thickness is multiplied with wallthickness
Configurable | Abstact class for configurable objects
ConfigurableList | Establishes for some methods the notifications for registered Callbackable instances (use addCallbackable(
ContactSensor | Class for a contact sensor
ControllerGenerator | Generator for controller
ControllerNet | Multi layer neural network with configurable activation functions and propagation and projection methods suitable for homeokinesis controller
CopyWiring | Implements a wiring where the motors are copied to several motors and the sensors are fusioned
CrossMotorCoupling | This is an adapter for a teachable controller to implement a cross motor coupling, see dissertation of Georg Martius
Cylinder | Cylinder primitive
Dat |
DebugSubstance |
DefaultCaterPillar | This is a class, which models a snake like robot
DegreeSegment | Class for degree segments
DerivativeWiring | Implements a wiring (between controller and robot) which includes the first and second derivative of the original robot sensor values
DirectCameraSensor | This CameraSensor implements a direct conversion from pixels to sensors
DiscreteControllerAdapter | Adapter class for robot controller
Discretesizable | Abstact class for discretesizable controllers
Discretisizer | Use this class to get discrete values
Discus | A spherical robot with 3 internal masses, which can slide on their orthogonal axes
DiscusConf | Configuration object for the Discus robot
DoubleRandomStrategy | This class create a IValue (TemplateValue with type double) and initialize it with an random double value
drand48_data |
DummyGround | DummyGround which holds a DummyPrimitive (so getMainPrimitive() works)
DummyMotor |
DummyObstacle | DummyObstacle which holds a DummyPrimitive (so getMainPrimitive() works)
DummyPrimitive | Dummy Primitive which returns 0 for geom and body
dynamic_agent_caster< Derived > |
EliteSelectStrategy | This class makes a elite select and bring only the best individual in the next generation
Elman | Multilayer Neural Network with context neurons (after Elman and Jordan) Example of 2 hidden layer network with both, elman and jordan context units
EuclidicDistanceFitnessStrategy | This fitness strategy calculate from all double gens (IValue<double>) the euclidic distance to zero
ExtreamTestFitnessStrategy | An example implementation and a extreme test for gen
FeedbackWiring | Implements essentionally a one to one wiring with feedback connections
FeedForwardNN | Abstract class (interface) for feed forward rate based neural networks
FFNNController | Class for robot controller with a fixed neural network
FixedJoint |
FixGenerationSizeStrategy | This class implements the generation size strategy with a fix value which is over the constructor given
FixMutationFactorStrategy | This strategy implementation return a fix value for the mutation factor
ForceBoostWiring | Implements one to one wiring that integrates the mismatch between motor commands (understood as target values) and sensor values and adds them to the controller output If more sensors than motors are used it uses just the first m sensors
ForcedSphere |
ForcedSphereConf |
Formel1 | Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a capsule like body
FourWheeled | Robot is based on nimm4 with 4 wheels and a capsule like body
FourWheeledConf |
Gen | The Gen class
GenContext | The GenContext class
Generation | The Generation class
GenPrototype | The GenPrototype class
geomPairHash |
GlobalData | Data structure holding all essential global information
GlobalDataBase |
Gripper | A gripper can be attached to a primitive via its substance and implements gripping (a fixed joint) on collision with specified objects
GripperConf | Configure object for Gripper
Hand | Artificial Hand
HandConf |
HeightField | Height field primitive
Hexapod |
HexapodConf |
Hinge2Joint |
HingeJoint |
HomeokinBase | Abstract class (interface) for robot controller that use are based on the homeokinetic prinziple
HSVImgProc | Converts the image to a HSV coded image
HUDStatisticsManager | Manages all the stuff displaying statistics on the graphics window
HurlingSnake | Hurling snake is a string a beats
IConnection |
ieee754_double |
IException |
IFitnessStrategy | The interface for the fitness strategy of an individual
IGenerationSizeStrategy | This interface is to specify how big the next generation should be
ILayer |
ImagePPM |
ImageProcessor | Base class for image processing units
IMeasure | Class used by StatisticTools
IMutationFactorStrategy | This is a interface for a strategy, which is used by ValueMutationStrategy
IMutationStrategy | This interface gives the structur for the mutation of a gen
Indices |
Individual | This class represent one individual of the complete gen
Inspectable | Interface for inspectable objects
InspectableProxy | This class is a proxy for the inspectable class
InvertableModel | Abstract class (interface) for invertable models
InvertController | Abstract class (interface) for robot controller that use direct matrix inversion and simple one layer networks
InvertedFitnessStrategy | This strategy calculate the invert to a other strategy
InvertMotorBigModel | Class for robot controller is based on InvertMotorNStep
InvertMotorBigModelConf |
InvertMotorController | Extended HomeokinBase class (still abstract) for robot controller work in motorspace and use possibly many steps and adaptive learning rate
InvertMotorNStep | Class for robot controller that uses the georg's matrixlib for direct matrix inversion for n channels (simple one layer networks)
InvertMotorNStepConf |
InvertMotorSpace | Class for robot controller that uses the georg's matrixlib for direct matrix inversion for n channels (simple one layer networks)
InvertNChannelController | Class for robot controller that uses the georg's matrixlib for direct matrix inversion for n channels (simple one layer networks)
iparampair |
IRandomStrategy | This interface is to create a random IValue
IRSensor | Class for IR sensors
ISelectStrategy | This interface is for a select strategy of the generation class
IValue | This class is a interface for a value which is part of a gen
join< T > |
Joint |
Layer |
Leg |
Leg |
LiftUpOperator | An Operator for lifting up a robot from time to time
LiftUpOperatorConf |
LimitOrientationOperator | An Operator for limiting the orientation of the main primitive of a robot
LineImgProc | Creates a lightsensitive sensorline
LpzHelpHandler | Event handler for adding on screen help to Viewers
LPZViewer | Viewer holds a single view on to a single scene that supports the rendering of offscreen RRT (render to texture) cameras at any time (without sync)
Lyapunov | Class for calculating lyapunov exponents online, over several time horizons, from given Jacobi matrices
ManipDescr | Description of action (for visualization)
matchId | Nice predicate function for finding by ID
matchMode | Nice predicate function for finding by mode
matchName | Nice predicate function for finding a Layer with its vectorname
Matrix | Matrix type
MeasureAdapter | This is a passive controller adapter who is passive and can handle AbstractMeasures
Mediator |
MediatorCollegue |
MediatorEvent | The default MediatorEvent holds no information, the implementation of the mediator should implement a derived version of the MediatorEvent
Mesh | Mesh primitive
MeshGround |
MeshObstacle |
ModelWithMemoryAdapter | Multi layer neural network with configurable activation functions
MotionBlurDrawCallback | Class that enables motion blur for the scenegraph should be called in the main simulation loop
MotionBlurOperation | Class that enables motion blur for the scenegraph should be called in the main simulation loop
MotionCameraSensor | This CameraSensor calculates the global optical flow of the camera image using the center of gravity method
MotionCameraSensorConf |
Motor | Abstact base class for attachable motors
MotorBabbler | Class for robot control that does motor babbling, e.g
MotorNoiseWiring | Implements a one to one wiring that adds noise to the motor signals (the sensors will get no noise)
MoveEarthySkyWithEyePointTransform |
MultiLayerFFNN | Multi layer neural network with configurable activation functions
MuscledArm |
MuscledArmConf |
MutualInformationController | This is a controller who is passive at the moment, that means, he will not generate any motor values
MyRobot |
NetUpdate | Updates for network
Nimm2 | Robot that looks like a Nimm 2 Bonbon :-) 2 wheels and a cylinder like body
Nimm2Conf |
Nimm4 | Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a capsule like body Wheelorder: front left, front right, rear left, rear right
NoiseGenerator | Interface and basic class for noise generator
NoNoise | Generates no noise
OctaPlayground |
OdeAgent | Specialised agent for ode robots
OdeConfig | The class $name holds the configurable parameters of the simulation environment
OdeHandle | Data structure for accessing the ODE
OdeRobot | Abstract class for ODE robots
older_than | Nice predicate function for finding old sound signals
One2OneWiring | Implements one to one wiring of robot sensors to inputs of the controller and controller outputs to robot motors
OneActiveMultiPassiveController | Class (interface) for using multiple controller, the first one is the active one, which generates motor values
OneAxisJoint |
OneAxisServo | General servo motor to achieve position control
OneAxisServoCentered | General servo motor to achieve position control with zero position centered
OneAxisServoVel | General servo motor to achieve position control
OneControllerPerChannel | Class for using multiple controller, one for each joint
OneLayerFFNN | Simple one layer neural network with configurable activation function
Operator |
OpticalFlow | This CameraSensor calculates the optical flow at few points of the image based on a box matching technique
OpticalFlowConf | Configuration object for OpticalFlow
OSGBox | Graphical box
OSGBoxTex | Graphical box with Textures
OSGCapsule | Graphical capsule (a cylinder with round ends)
OsgConfig | Data structure containing some configuration variables for OSG
OSGCylinder | Graphical cylinder
OSGDummy | A dummy graphical object, which has no representation in the graphical world
OsgHandle | Data structure for accessing the OpenSceneGraph
OSGHeightField | Graphical HeightField
OSGMainLoop |
OSGMesh | Graphical Mesh or arbitrary OSG model
OSGPlane | Graphical plane (represented as a large thin box, because OSG does not draw planes)
OSGPrimitive | Interface class for graphic primitives like spheres, boxes, and meshes, which can be drawn by OSG
OsgScene | Data structure containing the scene notes (e.g
OSGSphere | Graphical sphere
OSGText | Text to be displayed on the hud
ParallelTask | A base class for parallel task classes which are defined by a set of macros
ParallelTaskManager | A singleton class to manage parallel code tasks
parampair |
PassiveBox | (Passive) box as obstacle
PassiveCapsule | (Passive) capsule as obstacle
PassiveMesh | (Passive) mesh as obstacle
PassiveSphere | (Passive) sphere as obstacle
Pat |
PID |
Plane | Plane primitive
PlatformThreadObjects |
PlattfussSchlange | This is a class, which models a snake like robot with flat ends and a big body in the middle
Playground |
PlotOption | This class contains options for the use of an external plot utility like guilogger or neuronviz or just simply file output
PlotOptionEngine |
PolyLine |
Pos |
Position |
PositionCameraSensor | This CameraSensor calculates the position of the visible object(s) that is essentially the center of gravity of the image
PositionCameraSensorConf |
PostDrawCallback |
Primitive | Interface class for primitives represented in the physical and graphical world
PrimitiveComponent | Component consisting of one Primitive
print_func< T > |
ProfileBlock | A simple data structure representing a single timed block of code
Profiler | A singleton class that manages timing for a set of profiling blocks
PullToPointOperator | An Operator for pulling the main primitive of a robot towards a point
QLearning | Implements QLearning
RaceGround |
RandomObstacles | Passive random obstacles: with spawn and remove obstacles can be created and removed
RandomObstaclesConf |
RandomSelectStrategy | This class makes a select by randomized comparison of one individual of the old generation with a random number
Ray | Ray primitive The actual visual representation can have different length than the ray object
RaySensor | Abstract class for Ray-based sensors
RaySensorBank | Class for a bank (collection) of ray sensors
RelativePositionSensor | Class for relative position sensing
ReplayController | Controller that replays a file
ReplayRobot |
RESTORE_GA_GENE |
RESTORE_GA_GENERATION |
RESTORE_GA_HEAD |
RESTORE_GA_INDIVIDUAL |
RESTORE_GA_TEMPLATE< Typ > |
RobotCameraManager | Manages camera sensors
RobotChain | Chain of robots
RobotChainConf |
Schlange | This is a class, which models a snake like robot
SchlangeConf |
SchlangeForce | This is a class, which models a snake like robot
SchlangeServo | This is a class, which models a snake like robot
SchlangeServo2 | This is a class, which models a snake like robot
SchlangeVelocity | This is a class, which models a snake like robot
Seesaw | Seesaw
select_all |
select_firsthalf |
select_from_to | Select sensors in the range (inclusively)
select_predicate | Predicate to select sensors
SelectiveNoiseWiring | Implements a one to one wiring and allows to select the noise strength per sensor channel
SelectiveOne2OneWiring | Implements a selective one to one wiring of robot sensors to inputs of the controller and controller outputs to robot motors
SeMoX | This controller follows the prinziple of homeokinesis and implements the extensions described in the thesis of Georg Martius 2009, University Goettingen: Goal-Oriented Control of Self-organizing Behavior in Autonomous Robots
SeMoXConf |
Sensor | Abstract class for sensors that can be plugged into a robot
SfitnessEliteStrategyStruct | Help structur to sort the individual by the fitness values
ShortCircuit |
Simulation |
SimulationTask |
SimulationTaskHandle | Struct which holds all structural data for the simulations
SimulationTaskSupervisor |
SineController | Class for robot control with sine, sawtooth and impuls
SineWhiteNoise | Sine wave noise. Produces a 90 degree phase shifted sine wave or white noise
SingletonGenAlgAPI | This is a facade for the gen
SingletonGenEngine | This is the engine of the gen
SingletonGenFactory | This is the factory for the class Gen
SingletonIndividualFactory | This is a factory for the individual class
Skeleton | Should look like a humanoid
SkeletonConf |
SliderJoint |
SliderWheelie | This is a class, which models an annular robot
SliderWheelieConf |
SlidingMatrix | Holds a matrix that is the result of a sliding window multiplication
SOM | Self-organised map class
SoML | This controller implements the homeokinetic learning algorihm in sensor space with extended controller network
SoMLConf | Configuration object for SoML controller
Sos | This controller implements the standard algorihm described the Chapter 5 (Homeokinesis) of book "The Playful Machine"
Sound | Object that represents a sound signal in the simulator
SoundSensor | Sound sensor with possible direction and frequency detection and also distance dependence (Not implemented yet) This works, but is not very well tested and documented
Sox | This controller implements the standard algorihm described the the Chapter 5 (Homeokinesis) with extensions of Chapter 15 of book "The Playful Machine"
SoxConf | Configuration object for Sox controller. Use Sox::getDefaultConf()
SoxExpand | This controller implements the standard algorihm described the Chapter 3 (Homeokinesis) with body expansion via context sensors
SoxExpandConf | Configuration object for SoxExpand
SparseArray< I, D > |
SparseMatrix< I, D > | Sparse matrix which uses an HashTable first (fast implemented) version
Speaker | This "motor" emulates a speaker or piezo element to produce sound
SpeedSensor | Class for speed sensing of robots
Sphere | Sphere primitive
Sphererobot | This is a class, which models a snake like robot
Sphererobot3Masses | A spherical robot with 3 internal masses, which can slide on their orthogonal axes
Sphererobot3MassesConf | Configuration object for the Sphererobot3Masses robot
SphererobotConf |
SplitControl | Class for using multiple controller with one robot
Spring |
StandartGenerationSizeStrategy | This class calculate the new generation size over the enhancement speed
StandartMutationFactorStrategy | This strategy calculate the mutation factor by the variance of the gens in the giving set
StatisticMeasure | Class used by StatisticTools
StatisticTools | TODO: add possibility to pass description of a measure
StdImageProcessor | Standard image processor - convenience class for 1 to 1 image processing
Storeable | Interface for objects, that can be stored and restored to/from a file stream (binary)
StraightLine | Abstract class (interface) for obstacles
Substance | Physical substance definition, used for collision detection/treatment What we need is mu, slip and kp,kd parameter for the collision Definition of substance parameters:
SumFitnessStrategy | Test implementation
TaskedSimulation |
TaskedSimulationCreator | Defines a method to construct a TaskedSimulation
Teachable | Interface for teachable controller
TemplateTaskedGaSimulationFitnessStrategy | Fitness strategy for this demonstration simulation
TemplateValue< Typ, toString > | Template class for a IValue standard data type needs the data type and a methode for string converting as template argument
TemplateValueAnalysation< type, zero, lower, higher, doubleDiv, doubleMul, add, sub, mul, div > | This template class give you some methods to calculate some statistical values like average, min, max, upper quartil, lower quartil and many more
TerrainGround | Class provides an terrain based on HeightFields
TestFitnessStrategy | Test fitness strategy
TextureDescr | Holds texture file and repeat information
ThisSim | Just create your own simulation, it's up to you
ThisSimCreator | Defines a method to construct a ThisSim
ThisSimulationTaskHandle |
TmpDisplayItem | Holding a temporary graphical item
TmpJoint | Holding a temporary joint
TmpObject | This is the base-class for objects that exist temporarily like some indicator of manipulation are a message
TmpPrimitive | Holding a temporary primitive
TorqueSensor | Class for sensing the torque that are applied the joint by a motor
TournamentSelectStrategy | This class makes a select by randomized comparison of two individual of the old generation
TraceDrawer |
Trackable | Abstract class (interface) for trackable objects (used for robots)
TrackableMeasure |
TrackablePrimitive |
TrackRobot | This class provides tracking possibilies of a robot
TrackRobotConf |
Transform | Primitive for transforming a geom (primitive without body) in respect to a body (primitive with body)
TruckMesh | Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a truck mesh like body
TwoAxisJoint |
TwoAxisServo | General servo motor for 2 axis joints
TwoAxisServoCentered | General servo motor for 2 axis joints with zero position centered
TwoAxisServoVel | General servo motor to achieve position control for 2 axis joints that internally controls the velocity of the motor (much more stable) with centered zero position
TwoWheeled | Robot is based on nimm2 with a camera installed
TwoWheeledConf |
TYPE_SAVE | Help structur for sorting the set
UniversalJoint |
use_java_controller | Class for robot control with sine and cosine
Uwo | UWO: Unknown Walk Object :-), looks like a plate with a lot of legs
UwoConf |
ValueMutationStrategy | This mutation strategy clculate a mutation factor by using a mutation factor strategy an add this factor to the old gen
Vec2i |
vector |
Vertex |
VideoStream |
VierBeiner | Robot that should look like a dog
VierBeinerConf |
WhiteNormalNoise | Generates white and normal distributed random numbers
WhiteUniformNoise | Generates white (no averaging) uniformly distributed random number between "min" and "max"
WindowStatistic | Nested class WindowStatistic, which puts the measure and the graphics text together
WiredController | The WiredController contains a controller and a wiring, which connects the controller with the robot
WiringSequence | Implements a sequence of wirings