DerivativeWiring Class Reference

Implements a wiring (between controller and robot) which includes the first and second derivative of the original robot sensor values. More...

#include <derivativewiring.h>

Inherits AbstractWiring.

Collaboration diagram for DerivativeWiring:

[legend]

List of all members.

Public Member Functions
	DerivativeWiring (const DerivativeWiringConf &conf, NoiseGenerator *noise, const std::string &name="DerivativeWiring")
	constructor
virtual	~DerivativeWiring ()
	destructor
virtual void	reset ()
	reset internal state
Static Public Member Functions
static DerivativeWiringConf	getDefaultConf ()
	Providing default configuration for DerivativeWiring with first derivative.
static DerivativeWiringConf	getDefaultConf1 ()
	Providing default configuration for DerivativeWiring for only first derivative.
Protected Member Functions
virtual bool	initIntern ()
	to be overloaded by subclasses The rsensornumber and rmotornumber are already stored in the member variables.
virtual bool	wireSensorsIntern (const sensor *rsensors, int rsensornumber, sensor *csensors, int csensornumber, double noise)
	Realizes a wiring from robot sensors to controller sensors.
virtual bool	wireMotorsIntern (motor *rmotors, int rmotornumber, const motor *cmotors, int cmotornumber)
	Realizes wiring from controller motor outputs to robot motors.
void	calcFirstDerivative ()
	Calculate the first derivative of the sensorvalues given by the robot f'(x) = (f(x+1) - f(x-1)) / 2 since we do not have f(x+1) we go one timestep in the past.
void	calcSecondDerivative ()
	Calculate the secound derivative of the sensorvalues given by the robot f'(x) = f(x) - 2f(x-1) + f(x-2).
Protected Attributes
DerivativeWiringConf	conf
	used configuration
int	time
sensor *	sensorbuffer [buffersize]
	number timesteps the sensor values are delayed for calculation of the derivative
sensor *	first
	current sensors (with noise)
sensor *	second
	current second derivative
motor *	blindMotors
	array that stored the values of the blind motors
Static Protected Attributes
static const int	buffersize = 40

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Detailed Description

Implements a wiring (between controller and robot) which includes the first and second derivative of the original robot sensor values.

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Constructor & Destructor Documentation

DerivativeWiring	(	const DerivativeWiringConf &	conf,
		NoiseGenerator *	noise,
		const std::string &	name = "DerivativeWiring"
	)

constructor

Parameters:

	conf	for giving the wished configuration of DerivativeWiring via DerivativeWiringConf
	noise	NoiseGenerator that is used for adding noise to sensor values

~DerivativeWiring

(

)

[virtual]

destructor

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Member Function Documentation

void calcFirstDerivative

(

)

[protected]

Calculate the first derivative of the sensorvalues given by the robot f'(x) = (f(x+1) - f(x-1)) / 2 since we do not have f(x+1) we go one timestep in the past.

f'(x) = (f(x+1) - f(x-1)) / 2

void calcSecondDerivative

(

)

[protected]

Calculate the secound derivative of the sensorvalues given by the robot f'(x) = f(x) - 2f(x-1) + f(x-2).

f'(x) = f(x) - 2f(x-1) + f(x-2)

static DerivativeWiringConf getDefaultConf

(

)

[inline, static]

Providing default configuration for DerivativeWiring with first derivative.

No smoothing and no scaling. ( as static method )

static DerivativeWiringConf getDefaultConf1

(

)

[inline, static]

Providing default configuration for DerivativeWiring for only first derivative.

smoothing over 4 steps and scale of 5. Use smaller noise! ( as static method )

bool initIntern

(

)

[protected, virtual]

to be overloaded by subclasses The rsensornumber and rmotornumber are already stored in the member variables.

The random values are to be accessed via the noiseGenerator.

See also:

init()

Implements AbstractWiring.

void reset

(

)

[virtual]

reset internal state

Reimplemented from AbstractWiring.

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

Realizes wiring from controller motor outputs to robot motors.

Implements AbstractWiring.

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

Realizes a wiring from robot sensors to controller sensors.

Implements AbstractWiring.

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Member Data Documentation

motor* blindMotors [protected]

array that stored the values of the blind motors

const int buffersize = 40 [static, protected]

DerivativeWiringConf conf [protected]

used configuration

sensor* first [protected]

current sensors (with noise)

current first derivative

sensor* second [protected]

current second derivative

sensor* sensorbuffer[buffersize] [protected]

number timesteps the sensor values are delayed for calculation of the derivative

current and old smoothed sensor values of robot

int time [protected]

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

• derivativewiring.h
• derivativewiring.cpp