Sos Class Reference

This controller implements the standard algorihm described the Chapter 5 (Homeokinesis) of book "The Playful Machine". More...

#include <sos.h>

Inherits AbstractController.

Collaboration diagram for Sos:

[legend]

List of all members.

Public Member Functions
	Sos (double init_feedback_strength=1.0)
virtual void	init (int sensornumber, int motornumber, RandGen *randGen=0)
	initialisation of the controller with the given sensor/ motornumber Must be called before use.
virtual	~Sos ()
virtual int	getSensorNumber () const
	returns the number of sensors the controller was initialised with or 0 if not initialised
virtual int	getMotorNumber () const
	returns the mumber of motors the controller was initialised with or 0 if not initialised
virtual void	step (const sensor *, int number_sensors, motor *, int number_motors)
	performs one step (includes learning).
virtual void	stepNoLearning (const sensor *, int number_sensors, motor *, int number_motors)
	performs one step without learning. Calulates motor commands from sensor inputs.
virtual bool	store (FILE *f) const
	stores the controller values to a given file.
virtual bool	restore (FILE *f)
	loads the controller values from a given file.
virtual matrix::Matrix	getA ()
virtual void	setA (const matrix::Matrix &A)
virtual matrix::Matrix	getC ()
virtual void	setC (const matrix::Matrix &C)
virtual matrix::Matrix	geth ()
virtual void	seth (const matrix::Matrix &h)
Protected Member Functions
virtual void	learn ()
	learn values model and controller (A,b,C,h)
Static Protected Member Functions
static double	g (double z)
	neuron transfer function
static double	g_s (double z)
	derivative of g
static double	clip (double r, double x)
	function that clips the second argument to the interval [-first,first]
static double	one_over (double x)
	calculates the inverse the argument (useful for Matrix::map)
Protected Attributes
unsigned short	number_sensors
unsigned short	number_motors
matrix::Matrix	A
matrix::Matrix	C
matrix::Matrix	h
matrix::Matrix	b
matrix::Matrix	L
matrix::Matrix	y_buffer [buffersize]
matrix::Matrix	x_buffer [buffersize]
matrix::Matrix	v_avg
matrix::Matrix	x
matrix::Matrix	x_smooth
int	t
bool	TLE
bool	loga
double	init_feedback_strength
paramval	creativity
paramval	epsC
paramval	epsA
paramint	s4avg
paramint	s4delay
Static Protected Attributes
static const unsigned short	buffersize = 10

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Detailed Description

This controller implements the standard algorihm described the Chapter 5 (Homeokinesis) of book "The Playful Machine".

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Constructor & Destructor Documentation

Sos

(

double

init_feedback_strength = 1.0

)

~Sos

(

)

[virtual]

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Member Function Documentation

static double clip	(	double	r,
		double	x
	)			[inline, static, protected]

function that clips the second argument to the interval [-first,first]

static double g

(

double

z

)

[inline, static, protected]

neuron transfer function

static double g_s

(

double

z

)

[inline, static, protected]

derivative of g

matrix::Matrix getA

(

)

[virtual]

matrix::Matrix getC

(

)

[virtual]

matrix::Matrix geth

(

)

[virtual]

virtual int getMotorNumber

(

)

const [inline, virtual]

returns the mumber of motors the controller was initialised with or 0 if not initialised

Implements AbstractController.

virtual int getSensorNumber

(

)

const [inline, virtual]

returns the number of sensors the controller was initialised with or 0 if not initialised

Implements AbstractController.

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

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

The random generator is optional.

Implements AbstractController.

void learn

(

)

[protected, virtual]

learn values model and controller (A,b,C,h)

static double one_over

(

double

x

)

[inline, static, protected]

calculates the inverse the argument (useful for Matrix::map)

bool restore

(

FILE *

f

)

[virtual]

loads the controller values from a given file.

Implements Storeable.

void setA

(

const matrix::Matrix &

A

)

[virtual]

void setC

(

const matrix::Matrix &

C

)

[virtual]

void seth

(

const matrix::Matrix &

h

)

[virtual]

void step	(	const sensor *	x_,
		int	number_sensors,
		motor *	y_,
		int	number_motors
	)			[virtual]

performs one step (includes learning).

Calulates motor commands from sensor inputs.

Implements AbstractController.

void stepNoLearning	(	const sensor *	x_,
		int	number_sensors,
		motor *	y_,
		int	number_motors
	)			[virtual]

performs one step without learning. Calulates motor commands from sensor inputs.

Implements AbstractController.

bool store

(

FILE *

f

)

const [virtual]

stores the controller values to a given file.

Implements Storeable.

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Member Data Documentation

matrix::Matrix A [protected]

matrix::Matrix b [protected]

const unsigned short buffersize = 10 [static, protected]

matrix::Matrix C [protected]

paramval creativity [protected]

paramval epsA [protected]

paramval epsC [protected]

matrix::Matrix h [protected]

double init_feedback_strength [protected]

matrix::Matrix L [protected]

bool loga [protected]

unsigned short number_motors [protected]

unsigned short number_sensors [protected]

paramint s4avg [protected]

paramint s4delay [protected]

int t [protected]

bool TLE [protected]

matrix::Matrix v_avg [protected]

matrix::Matrix x [protected]

matrix::Matrix x_buffer[buffersize] [protected]

matrix::Matrix x_smooth [protected]

matrix::Matrix y_buffer[buffersize] [protected]

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

• sos.h
• sos.cpp