CopyWiring Class Reference

Implements a wiring where the motors are copied to several motors and the sensors are fusioned. More...

#include <copywiring.h>

Inherits AbstractWiring, and Configurable.

Collaboration diagram for CopyWiring:

[legend]

List of all members.

Public Types
typedef std::vector< std::list < int > >	Assignment
Public Member Functions
	CopyWiring (const Assignment &sensor_assignment, const Assignment &motor_assignment, NoiseGenerator *noise, int plotMode=Controller|Robot, const std::string &name="CopyWiring")
	constructor
virtual	~CopyWiring ()
	destructor
virtual void	reset ()
	reset internal state
Static Public Member Functions
static Assignment	motorFromSensorAssignment (const Assignment &sensor_assignment)
	returns the inverse Assignment of the given sensor assignemnt (typically the right thing)
Protected Member Functions
virtual bool	initIntern ()
	initializes the number of sensors and motors on robot side, calculate number of sensors and motors on controller side
virtual bool	wireSensorsIntern (const sensor *rsensors, int rsensornumber, sensor *csensors, int csensornumber, double noise)
	Realizes one to one wiring from robot sensors to controller sensors.
virtual bool	wireMotorsIntern (motor *rmotors, int rmotornumber, const motor *cmotors, int cmotornumber)
	Realizes one to one wiring from controller motor outputs to robot motors.
Protected Attributes
Assignment	s_assign
Assignment	m_assign

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Detailed Description

Implements a wiring where the motors are copied to several motors and the sensors are fusioned.

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Member Typedef Documentation

typedef std::vector< std::list<int> > Assignment

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Constructor & Destructor Documentation

CopyWiring	(	const Assignment &	sensor_assignment,
		const Assignment &	motor_assignment,
		NoiseGenerator *	noise,
		int	plotMode = Controller|Robot,
		const std::string &	name = "CopyWiring"
	)

constructor

Parameters:

	sensor_assignment	for each controller sensor a list of robot sensor it is averaged over
	motor_assignment	for each robot motor a list of controller motors it is averaged over
	noise	NoiseGenerator that is used for adding noise to sensor values
	plotMode	see AbstractWiring

~CopyWiring

(

)

[virtual]

destructor

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Member Function Documentation

bool initIntern

(

)

[protected, virtual]

initializes the number of sensors and motors on robot side, calculate number of sensors and motors on controller side

Implements AbstractWiring.

CopyWiring::Assignment motorFromSensorAssignment

(

const Assignment &

sensor_assignment

)

[static]

returns the inverse Assignment of the given sensor assignemnt (typically the right thing)

void reset

(

)

[virtual]

reset internal state

Reimplemented from AbstractWiring.

bool wireMotorsIntern	(	motor *	rmotors,
		int	rmotornumber,
		const motor *	cmotors,
		int	cmotornumber
	)			[protected, virtual]

Realizes one to one wiring from controller motor outputs to robot motors.

Parameters:

	rmotors	pointer to array of motorvalues for robot
	rmotornumber	number of robot motors
	cmotors	pointer to array of motorvalues from controller
	cmotornumber	number of motorvalues from controller

Implements AbstractWiring.

bool wireSensorsIntern	(	const sensor *	rsensors,
		int	rsensornumber,
		sensor *	csensors,
		int	csensornumber,
		double	noise
	)			[protected, virtual]

Realizes one to one wiring from robot sensors to controller sensors.

Parameters:

	rsensors	pointer to array of sensorvalues from robot
	rsensornumber	number of sensors from robot
	csensors	pointer to array of sensorvalues for controller
	csensornumber	number of sensors to controller
	noise	size of the noise added to the sensors

Implements AbstractWiring.

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Member Data Documentation

Assignment m_assign [protected]

Assignment s_assign [protected]

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The documentation for this class was generated from the following files:

• copywiring.h
• copywiring.cpp