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# oneactivemultipassivecontroller.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *    frankguettler@gmx.de                                                 *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  *   $Log: oneactivemultipassivecontroller.h,v $
    00024  *   Revision 1.2  2008/04/17 14:54:45  martius
    00025  *   randomGen added, which is a random generator with long period and an
    00026  *    internal state. Each Agent has an instance and passed it to the controller
    00027  *    and the wiring. This is good for
    00028  *   a) repeatability on agent basis,
    00029  *   b) parallel execution as done in ode_robots
    00030  *
    00031  *   Revision 1.1  2007/03/22 08:15:30  robot3
    00032  *   Special variant of an multicontroller, which has one main (active) controller
    00033  *   and an arbitrary number of passive controllers. These passive controllers are like active controllers, but aren't be able to manipulate the motor values forwarded
    00034  *   to the Agent. See ode_robots/simulations/MI_Simu for an example.
    00035  *
    00036
    00037  *                                                                         *
    00038  ***************************************************************************/
    00039 #ifndef __ONEACTIVEMULTIPASSIVECONTROLLER_H
    00040 #define __ONEACTIVEMULTIPASSIVECONTROLLER_H
    00041
    00042 #include "abstractmulticontroller.h"
    00043
    00044 /**
    00045  * class (interface) for using multiple controller, the first one is
    00046  * the active one, which generates motor values. The other controllers
    00047  * are passive and cannot affect the motor values.
    00048  *
    00049  */
    00050 class OneActiveMultiPassiveController : public AbstractMultiController {
    00051 public:
    00052
    00053   /// contructor (hint: use $ID$ for revision)
    00054         OneActiveMultiPassiveController(AbstractController* controller, std::string controllerName);
    00055
    00056         virtual ~OneActiveMultiPassiveController();
    00057
    00058 /****************************************************************************/
    00059 /*      AbstractMultiController should implement the following classes:         */
    00060 /*      AbstractController, Configurable, Inspectable, Storeable                    */
    00061 /****************************************************************************/
    00062
    00063
    00064 /****************************************************************************/
    00065 /*      BEGIN methods of AbstractController                                     */
    00066 /****************************************************************************/
    00067
    00068   /** initialisation of the controller with the given sensor/ motornumber
    00069    * Must NORMALLY be called before use. For all multicontroller
    00070    * call first AbstractMultiController::init(sensornumber,motornumber)
    00071    * if you overwrite this method
    00072    */
    00073         virtual void init(int sensornumber, int motornumber, RandGen* randGen = 0);
    00074
    00075
    00076           /** performs one step (includes learning).
    00077       Calculates motor commands from sensor inputs.
    00078         @param sensors sensors inputs scaled to [-1,1]
    00079         @param sensornumber length of the sensor array
    00080         @param motors motors outputs. MUST have enough space for motor values!
    00081         @param motornumber length of the provided motor array
    00082   */
    00083         virtual void step(const sensor* sensors, int sensornumber,
    00084                           motor* motors, int motornumber);
    00085
    00086   /** performs one step without learning.
    00087         @see step
    00088   */
    00089         virtual void stepNoLearning(const sensor* sensors , int sensornumber,
    00090                                     motor* motors, int motornumber);
    00091
    00092
    00093 /****************************************************************************/
    00094 /*      END methods of AbstractController                                           */
    00095 /****************************************************************************/
    00096
    00097 /****************************************************************************/
    00098 /*      BEGIN methods of Configurable                                           */
    00099 /****************************************************************************/
    00100
    00101
    00102
    00103 /****************************************************************************/
    00104 /*      END methods of Configurable                                                 */
    00105 /****************************************************************************/
    00106
    00107 /****************************************************************************/
    00108 /*      BEGIN methods of Inspectable                                            */
    00109 /****************************************************************************/
    00110
    00111   /** The list of the names of all internal parameters given by getInternalParams().
    00112       The naming convention is "v[i]" for vectors
    00113        and "A[i][j]" for matrices, where i, j start at 0.
    00114         @return: list of keys
    00115    */
    00116         virtual iparamkeylist getInternalParamNames() const {
    00117                 return AbstractMultiController::getInternalParamNames();
    00118                 // return all parameters from the other controllers
    00119                 // return params from multicontroller itself
    00120         }
    00121
    00122           /** @return: list of values
    00123    */
    00124         virtual iparamvallist getInternalParams() const {
    00125                 return AbstractMultiController::getInternalParams();
    00126                 // return all parameters from the other controllers
    00127                 // return params from multicontroller itself
    00128         }
    00129
    00130 /****************************************************************************/
    00131 /*      END methods of Inspectable                                                  */
    00132 /****************************************************************************/
    00133
    00134 /****************************************************************************/
    00135 /*      BEGIN methods of Storeable                                              */
    00136 /****************************************************************************/
    00137
    00138   /** stores the object to the given file stream (binary).
    00139   */
    00140         virtual bool store(FILE* f) const {
    00141                 return controller->store(f);
    00142                 // store the other controllers
    00143                 // store values from multicontroller itself
    00144         }
    00145
    00146   /** loads the object from the given file stream (binary).
    00147   */
    00148         virtual bool restore(FILE* f) {
    00149                 return controller->restore(f);
    00150                 // restore the other controllers
    00151                 // restore values from multicontroller itself
    00152         }
    00153
    00154 /****************************************************************************/
    00155 /*      END methods of Storeable                                                    */
    00156 /****************************************************************************/
    00157
    00158 protected:
    00159         motor* passiveMotors;
    00160 };
    00161
    00162 #endif