FeedbackWiring Class Reference

Implements essentionally a one to one wiring with feedback connections. More...

#include <feedbackwiring.h>

Inherits AbstractWiring.

Collaboration diagram for FeedbackWiring:

[legend]

List of all members.

Public Types
enum	Mode { Motor = 1, Context = 2, All = 3 }
Public Member Functions
	FeedbackWiring (NoiseGenerator *noise, Mode mode=Context, double feedbackratio=0.9, const std::string &name="FeedBackWiring")
	constructor
virtual	~FeedbackWiring ()
virtual std::list< iparamkey >	getInternalParamNames () const
	The list of the names of all internal parameters given by getInternalParams().
virtual std::list< iparamval >	getInternalParams () const
virtual matrix::Matrix	getFeedbackRatio () const
	return the feedback ratio vector
virtual void	setFeedbackRatio (const matrix::Matrix &)
	sets the feedback ratio vector.
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)
	to be overloaded by subclasses
virtual bool	wireMotorsIntern (motor *rmotors, int rmotornumber, const motor *cmotors, int cmotornumber)
	to be overloaded by subclasses
Protected Attributes
Mode	mode
double	defaultfeedbackratio
matrix::Matrix	feedbackratio
motor *	motors
	array that stored the values of the motors
int	vmotornumber

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Detailed Description

Implements essentionally a one to one wiring with feedback connections.

The feedback connections from output to input are parameterised with a feedback strength. It is possible to generate virtual motors for context sensors.

In order to change the feedback strength after initialisation use the following code

    matrix::Matrix rs = wiring->getFeedbackRatio();
    double c=ratio;
    rs.toMapP(&c,constant);
    wiring->setFeedbackRatio(rs);

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Member Enumeration Documentation

enum Mode

Enumerator:

Motor
Context
All

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Constructor & Destructor Documentation

FeedbackWiring	(	NoiseGenerator *	noise,
		Mode	mode = Context,
		double	feedbackratio = 0.9,
		const std::string &	name = "FeedBackWiring"
	)

constructor

Parameters:

	noise	NoiseGenerator that is used for adding noise to sensor values
	mode	Motor|Context|All: Motor: motor outputs send feedback; Context: virtual motor outputs for each context sensor with feedback
	feedbackratio	default ratio used to feed back the output to the input, meaning

~FeedbackWiring

(

)

[virtual]

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Member Function Documentation

matrix::Matrix getFeedbackRatio

(

)

const [virtual]

return the feedback ratio vector

Inspectable::iparamkeylist getInternalParamNames

(

)

const [virtual]

The list of the names of all internal parameters given by getInternalParams().

The naming convention is "v[i]" for vectors and "A[i][j]" for matrices, where i, j start at 0.

Returns:

: list of keys

Reimplemented from Inspectable.

Inspectable::iparamvallist getInternalParams

(

)

const [virtual]

Returns:

: list of values

Reimplemented from Inspectable.

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 setFeedbackRatio

(

const matrix::Matrix &

ratios

)

[virtual]

sets the feedback ratio vector.

The size of the vector must be at least as large as getFeedbackRatio()

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

to be overloaded by subclasses

See also:

wireMotors()

Implements AbstractWiring.

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

to be overloaded by subclasses

See also:

wireSensors()

Implements AbstractWiring.

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Member Data Documentation

double defaultfeedbackratio [protected]

matrix::Matrix feedbackratio [protected]

Mode mode [protected]

motor* motors [protected]

array that stored the values of the motors

int vmotornumber [protected]

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

• feedbackwiring.h
• feedbackwiring.cpp