Sox Class Reference

This controller implements the standard algorihm described the the Chapter 5 (Homeokinesis) with extensions of Chapter 15 of book "The Playful Machine". More...

#include <sox.h>

Inherits AbstractController, and Teachable.

Collaboration diagram for Sox:

[legend]

List of all members.

Public Member Functions
	Sox (const SoxConf &conf=getDefaultConf())
	constructor
	Sox (double init_feedback_strength, bool useExtendedModel=true, bool useTeaching=false)
	constructor provided for convenience, use conf object to customize more
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	~Sox ()
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 void	motorBabblingStep (const sensor , int number_sensors, const motor , int number_motors)
	called during babbling phase
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)
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 SoxConf	getDefaultConf ()
Protected Member Functions
void	constructor ()
matrix::Matrix	pseudoInvL (const matrix::Matrix &L, const matrix::Matrix &A, const matrix::Matrix &C)
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	S
matrix::Matrix	h
matrix::Matrix	b
matrix::Matrix	L
matrix::Matrix	R
matrix::Matrix	C_native
matrix::Matrix	A_native
matrix::Matrix	y_buffer [buffersize]
matrix::Matrix	x_buffer [buffersize]
matrix::Matrix	v_avg
matrix::Matrix	x
matrix::Matrix	x_smooth
int	t
bool	loga
SoxConf	conf
	configuration objects
bool	intern_isTeaching
matrix::Matrix	y_teaching
paramval	creativity
paramval	sense
paramval	harmony
paramval	causeaware
paramint	pseudo
paramval	epsC
paramval	epsA
paramval	damping
paramval	gamma
Static Protected Attributes
static const unsigned short	buffersize = 10

Detailed Description

This controller implements the standard algorihm described the the Chapter 5 (Homeokinesis) with extensions of Chapter 15 of book "The Playful Machine".

Constructor & Destructor Documentation

Sox ( const SoxConf & conf = getDefaultConf() )

constructor

Sox	(	double	init_feedback_strength,
		bool	useExtendedModel = `true`,
		bool	useTeaching = `false`
	)

constructor provided for convenience, use conf object to customize more

~Sox ( ) [virtual]

Member Function Documentation

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

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

void constructor ( ) [protected]

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]

static SoxConf getDefaultConf ( ) [inline, static]

matrix::Matrix geth ( ) [virtual]

matrix::Matrix getLastMotorValues ( ) [virtual]

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

Implements Teachable.

matrix::Matrix getLastSensorValues ( ) [virtual]

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

Implements Teachable.

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)

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

called during babbling phase

Reimplemented from AbstractController.

static double one_over ( double x ) [inline, static, protected]

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

Matrix pseudoInvL	(	const matrix::Matrix &	L,
		const matrix::Matrix &	A,
		const matrix::Matrix &	C
	)			`[protected]`

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 setMotorTeaching ( const matrix::Matrix & teaching ) [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.

void setSensorTeaching ( const matrix::Matrix & teaching ) [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.