OneActiveMultiPassiveController Class Reference

class (interface) for using multiple controller, the first one is the active one, which generates motor values. More...

#include <oneactivemultipassivecontroller.h>

Inherits AbstractMultiController.

Collaboration diagram for OneActiveMultiPassiveController:

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List of all members.

Public Member Functions
	OneActiveMultiPassiveController (AbstractController *controller, const std::string &name="1ActXPassController", const std::string &revision="$ID$")
	contructor (hint: use $ID$ for revision)
virtual	~OneActiveMultiPassiveController ()
virtual void	init (int sensornumber, int motornumber, RandGen *randGen=0)
	initialisation of the controller with the given sensor/ motornumber Must NORMALLY be called before use.
virtual void	step (const sensor *sensors, int sensornumber, motor *motors, int motornumber)
	performs one step (includes learning).
virtual void	stepNoLearning (const sensor *sensors, int sensornumber, motor *motors, int motornumber)
	performs one step without learning.
Protected Attributes
motor *	passiveMotors

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Detailed Description

class (interface) for using multiple controller, the first one is the active one, which generates motor values.

The other controllers are passive and cannot affect the motor values.

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Constructor & Destructor Documentation

OneActiveMultiPassiveController	(	AbstractController *	controller,
		const std::string &	name = "1ActXPassController",
		const std::string &	revision = "$ID$"
	)

contructor (hint: use $ID$ for revision)

~OneActiveMultiPassiveController

(

)

[virtual]

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Member Function Documentation

void init	(	int	sensornumber,
		int	motornumber,
		RandGen *	randGen = 0
	)			[virtual]

initialisation of the controller with the given sensor/ motornumber Must NORMALLY be called before use.

For all multicontroller call first AbstractMultiController::init(sensornumber,motornumber) if you overwrite this method

Reimplemented from AbstractMultiController.

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

Implements AbstractMultiController.

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

performs one step without learning.

See also:

step

Implements AbstractMultiController.

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Member Data Documentation

motor* passiveMotors [protected]

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

• oneactivemultipassivecontroller.h
• oneactivemultipassivecontroller.cpp