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# abstractwiring.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  *                                                                         *
    00007  *   This program is free software; you can redistribute it and/or modify  *
    00008  *   it under the terms of the GNU General Public License as published by  *
    00009  *   the Free Software Foundation; either version 2 of the License, or     *
    00010  *   (at your option) any later version.                                   *
    00011  *                                                                         *
    00012  *   This program is distributed in the hope that it will be useful,       *
    00013  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00014  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00015  *   GNU General Public License for more details.                          *
    00016  *                                                                         *
    00017  *   You should have received a copy of the GNU General Public License     *
    00018  *   along with this program; if not, write to the                         *
    00019  *   Free Software Foundation, Inc.,                                       *
    00020  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00021  *                                                                         *
    00022  *   $Log: abstractwiring.h,v $
    00023  *   Revision 1.8  2008/09/16 15:37:29  martius
    00024  *   added randomgen
    00025  *
    00026  *   Revision 1.7  2008/04/28 11:14:54  guettler
    00027  *   removed include "abstractrobot.h" (not needed)
    00028  *
    00029  *   Revision 1.6  2008/04/17 14:54:45  martius
    00030  *   randomGen added, which is a random generator with long period and an
    00031  *    internal state. Each Agent has an instance and passed it to the controller
    00032  *    and the wiring. This is good for
    00033  *   a) repeatability on agent basis,
    00034  *   b) parallel execution as done in ode_robots
    00035  *
    00036  *   Revision 1.5  2007/11/07 13:40:24  martius
    00037  *   sensors and motors also added as type here (not very nice anyway)
    00038  *
    00039  *   Revision 1.4  2006/12/21 11:44:17  martius
    00040  *   commenting style for doxygen //< -> ///<
    00041  *   FOREACH and FOREACHC are macros for collection iteration
    00042  *
    00043  *   Revision 1.3  2006/07/20 17:14:36  martius
    00044  *   removed std namespace from matrix.h
    00045  *   storable interface
    00046  *   abstract model and invertablemodel as superclasses for networks
    00047  *
    00048  *   Revision 1.2  2006/07/14 12:24:02  martius
    00049  *   selforg becomes HEAD
    00050  *
    00051  *   Revision 1.1.2.1  2005/11/16 11:24:27  martius
    00052  *   moved to selforg
    00053  *
    00054  *   Revision 1.8  2005/11/09 13:55:44  martius
    00055  *   *** empty log message ***
    00056  *
    00057  *   Revision 1.7  2005/10/24 09:52:36  fhesse
    00058  *   comments in doxygen
    00059  *
    00060  *   Revision 1.6  2005/10/06 17:11:36  martius
    00061  *   switched to stl lists
    00062  *
    00063  *   Revision 1.5  2005/08/03 20:34:58  martius
    00064  *   use if Inspectable interface
    00065  *
    00066  *   Revision 1.4  2005/07/21 15:14:47  martius
    00067  *   wireSensors and wireMotors get constant fields
    00068  *
    00069  *   Revision 1.3  2005/07/18 14:44:27  martius
    00070  *   noise moved into wiring
    00071  *
    00072  *   Revision 1.2  2005/07/18 10:14:45  martius
    00073  *   noise is added here
    00074  *
    00075  *   Revision 1.1  2005/07/14 15:57:53  fhesse
    00076  *   now agent contains controller, robot and wiring, plotting ability included, therefore plotagent can be removed; ono2onewiring replaces one2oneagent
    00077  *                                            *
    00078  *                                                                         *
    00079  ***************************************************************************/
    00080 #ifndef __ABSTRACTWIRING_H
    00081 #define __ABSTRACTWIRING_H
    00082
    00083 //#include "abstractrobot.h"
    00084 #include "noisegenerator.h"
    00085 #include "inspectable.h"
    00086 #include "randomgenerator.h"
    00087
    00088 /** Abstract wiring-object between controller and robot.
    00089  *  Implements wiring of robot sensors to inputs of the controller and
    00090  *  controller outputs to robot motors.
    00091  */
    00092 class AbstractWiring : public Inspectable {
    00093 public:
    00094   typedef double sensor;
    00095   typedef double motor;
    00096
    00097   /** constructor
    00098    *  @param noise NoiseGenerator that is used for adding noise to sensor values
    00099    */
    00100   AbstractWiring(NoiseGenerator* noise){
    00101     rsensornumber = 0;
    00102     rmotornumber  = 0;
    00103     csensornumber = 0;
    00104     cmotornumber  = 0;
    00105     noiseGenerator = noise;
    00106   }
    00107
    00108   /** destructor
    00109    */
    00110   virtual ~AbstractWiring(){
    00111     if(noiseGenerator) delete noiseGenerator;
    00112   }
    00113
    00114   /** Initializes the  number of sensors and motors from robot
    00115    *  (to be precise the internal parameters rsensornumber and rmotornumber!),
    00116    *  calculates the number of sensors and motors on controller side.
    00117    *  Must be overloaded to calculate and provide the appropriate numbers
    00118    *  controllersensornumber (csensornumber), controllermotornumber (cmotornumber),
    00119    *  robotsensornumber (rsensornumber) and robotmotornumber (rmotornumber),
    00120    *  @param randGen pointer to random generator, if not given then a new one is created
    00121    *  @return returns false on error, otherwise true
    00122    */
    00123   virtual bool init(int robotsensornumber, int robotmotornumber, RandGen* randGen=0) = 0;
    00124
    00125   /** Realizes wiring from robot sensors to controller sensors.
    00126    *   Must be overloaded in order to implement the appropriate mapping.
    00127    *   @param rsensors pointer to array of sensorvalues from robot
    00128    *   @param rsensornumber number of sensors from robot
    00129    *   @param csensors pointer to array of sensorvalues for controller
    00130    *   @param csensornumber number of sensors to controller
    00131    *   @param noise size of the noise added to the sensors
    00132    *  @return returns false on error, otherwise true
    00133    */
    00134   virtual bool wireSensors(const sensor* rsensors, int rsensornumber,
    00135                            sensor* csensors, int csensornumber,
    00136                            double noise) = 0;
    00137
    00138   /** Realizes wiring from controller motor outputs to robot motors.
    00139    *   Must be overloaded in order to implement the appropriate mapping.
    00140    *   @param rmotors pointer to array of motorvalues for robot
    00141    *   @param rmotornumber number of robot motors
    00142    *   @param cmotors pointer to array of motorvalues from controller
    00143    *   @param cmotornumber number of motorvalues from controller
    00144    *   @return returns false if error, else true
    00145    */
    00146   virtual bool wireMotors(motor* rmotors, int rmotornumber,
    00147                           const motor* cmotors, int cmotornumber)  = 0;
    00148
    00149
    00150
    00151   /** Returns the number of sensors on robot side.
    00152    */
    00153   virtual int getRobotSensornumber(){return rsensornumber;}
    00154
    00155   /** Returns the number of motors on robot side.
    00156    */
    00157   virtual int getRobotMotornumber() {return rmotornumber;}
    00158
    00159   /** Returns the number of sensors on controller side.
    00160    */
    00161   virtual int getControllerSensornumber(){return csensornumber;}
    00162
    00163   /** Returns the number of motors on controller side.
    00164    */
    00165   virtual int getControllerMotornumber() {return cmotornumber;}
    00166
    00167   /** Returns the list of the names of all internal parameters.
    00168    */
    00169   virtual std::list<iparamkey> getInternalParamNames() const { return std::list<iparamkey>(); };
    00170
    00171   /** Returns a list of the values of all internal parameters
    00172       (in the order given by getInternalParamNames()).
    00173    */
    00174   virtual std::list<iparamval>  getInternalParams() const { return std::list<iparamval>(); };
    00175
    00176
    00177 protected:
    00178   /// number of sensors at robot side
    00179   int rsensornumber;
    00180
    00181   /// number of motors at robot side
    00182   int rmotornumber;
    00183
    00184   /// number of sensors at controller side
    00185   int csensornumber;
    00186
    00187   /// number of motors at controller side
    00188   int cmotornumber;
    00189
    00190   /// noise generator
    00191   NoiseGenerator* noiseGenerator;
    00192
    00193 };
    00194
    00195 #endif