CrossMotorCoupling Class Reference

This is an adapter for a teachable controller to implement a cross motor coupling, see dissertation of Georg Martius. More...

#include <crossmotorcoupling.h>

Inherits AbstractControllerAdapter, and Teachable.

Collaboration diagram for CrossMotorCoupling:

[legend]

List of all members.

Public Member Functions
	CrossMotorCoupling (AbstractController *controller, Teachable *teachable, double threshold=0.4)
virtual void	step (const sensor *sensors, int sensornumber, motor *motors, int motornumber)
	performs one step (includes learning).
virtual void	setCMC (const CMC &cmc)
virtual CMC	getCMC ()
virtual void	setMotorTeaching (const matrix::Matrix &teaching)
	The given motor teaching signal is used for this timestep.
virtual void	setSensorTeaching (const matrix::Matrix &teaching)
	The given sensor teaching signal (distal learning) is used for this timestep.
virtual matrix::Matrix	getLastMotorValues ()
	returns the last motor values (useful for cross motor coupling)
virtual matrix::Matrix	getLastSensorValues ()
	returns the last sensor values (useful for cross sensor coupling)
Static Public Member Functions
static CMC	getPermutationCMC (const std::list< int > &permutation)
	creates a permutation cross motor coupling, where for each motor we define one cross motor connection.
Protected Attributes
CMC	cmc
Teachable *	teachable
double	threshold
	treshhold below which not cmc-teaching is done

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Detailed Description

This is an adapter for a teachable controller to implement a cross motor coupling, see dissertation of Georg Martius.

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Constructor & Destructor Documentation

CrossMotorCoupling	(	AbstractController *	controller,
		Teachable *	teachable,
		double	threshold = 0.4
	)			[inline]

Parameters:

	controller	actual controller
	teachable	also pointer to the controller, must be equal to controller. This trick is used to ensure that the controller is both "AbstractController" and "Teachable".
	threshold	value below which (absolute) no cross motor teaching is done (avoids suppression of activity)

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Member Function Documentation

CMC getCMC

(

)

[virtual]

virtual matrix::Matrix getLastMotorValues

(

)

[inline, virtual]

returns the last motor values (useful for cross motor coupling)

Implements Teachable.

virtual matrix::Matrix getLastSensorValues

(

)

[inline, virtual]

returns the last sensor values (useful for cross sensor coupling)

Implements Teachable.

CMC getPermutationCMC

(

const std::list< int > &

permutation

)

[static]

creates a permutation cross motor coupling, where for each motor we define one cross motor connection.

Parameters:

permutation

permutation[i]=j means that motor i receives from motor j

void setCMC

(

const CMC &

cmc

)

[virtual]

virtual void setMotorTeaching

(

const matrix::Matrix &

teaching

)

[inline, virtual]

The given motor teaching signal is used for this timestep.

It is used as a feed forward teaching signal for the controller. Please note, that the teaching signal has to be given each timestep for a continuous teaching process.

Parameters:

teaching,:

matrix with dimensions (motornumber,1)

Implements Teachable.

virtual void setSensorTeaching

(

const matrix::Matrix &

teaching

)

[inline, virtual]

The given sensor teaching signal (distal learning) is used for this timestep.

The belonging motor teachung signal is calculated by the inverse model. See setMotorTeaching

Parameters:

teaching,:

matrix with dimensions (motorsensors,1)

Implements Teachable.

void step	(	const sensor *	sensors,
		int	sensornumber,
		motor *	motors,
		int	motornumber
	)			[virtual]

performs one step (includes learning).

Calculates motor commands from sensor inputs.

Parameters:

	sensors	sensors inputs scaled to [-1,1]
	sensornumber	length of the sensor array
	motors	motors outputs. MUST have enough space for motor values!
	motornumber	length of the provided motor array

Reimplemented from AbstractControllerAdapter.

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Member Data Documentation

CMC cmc [protected]

Teachable* teachable [protected]

double threshold [protected]

treshhold below which not cmc-teaching is done

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

• crossmotorcoupling.h
• crossmotorcoupling.cpp