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# sinecontroller.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: sinecontroller.h,v $
    00023  *   Revision 1.12  2008/04/17 14:54:45  martius
    00024  *   randomGen added, which is a random generator with long period and an
    00025  *    internal state. Each Agent has an instance and passed it to the controller
    00026  *    and the wiring. This is good for
    00027  *   a) repeatability on agent basis,
    00028  *   b) parallel execution as done in ode_robots
    00029  *
    00030  *   Revision 1.11  2007/03/26 13:13:47  martius
    00031  *   store and restore with params
    00032  *
    00033  *   Revision 1.10  2006/11/29 16:22:43  martius
    00034  *   name is a variable of configurable and is used as such
    00035  *
    00036  *   Revision 1.9  2006/08/02 09:32:03  martius
    00037  *   store and restore according to storable interface
    00038  *
    00039  *   Revision 1.8  2006/07/14 12:23:59  martius
    00040  *   selforg becomes HEAD
    00041  *
    00042  *   Revision 1.6.6.5  2006/06/25 21:56:08  martius
    00043  *   configureable has name and revision
    00044  *
    00045  *   Revision 1.6.6.4  2006/06/25 16:51:36  martius
    00046  *   configureable has name and revision
    00047  *   a robot is configureable by default
    00048  *
    00049  *   Revision 1.6.6.3  2006/03/30 12:35:13  martius
    00050  *   documentation updated
    00051  *
    00052  *   Revision 1.6.6.2  2006/01/18 16:48:35  martius
    00053  *   stored and restore
    00054  *
    00055  *   Revision 1.6.6.1  2005/11/14 15:38:17  martius
    00056  *   moved to selforg
    00057  *
    00058  *   Revision 1.6  2005/11/14 12:46:19  martius
    00059  *   added number of controlled motors
    00060  *
    00061  *   Revision 1.5  2005/11/09 13:56:34  martius
    00062  *   const in instspectable functions
    00063  *
    00064  *   Revision 1.4  2005/10/06 17:06:57  martius
    00065  *   switched to stl lists
    00066  *
    00067  *   Revision 1.3  2005/08/06 20:47:54  martius
    00068  *   Commented
    00069  *
    00070  *   Revision 1.2  2005/07/07 10:25:47  martius
    00071  *   added Phaseshift
    00072  *
    00073  *   Revision 1.1  2005/07/06 13:55:33  fhesse
    00074  *   initial version, realising sine and cosine outputs
    00075  *                                            *
    00076  *                                                                         *
    00077  ***************************************************************************/
    00078 #ifndef __SINECONTROLLER_H
    00079 #define __SINECONTROLLER_H
    00080
    00081
    00082 #include <stdio.h>
    00083 #include "abstractcontroller.h"
    00084
    00085 /**
    00086  * class for robot control with sine and cosine
    00087  *
    00088  *
    00089  */
    00090 class SineController : public AbstractController {
    00091 public:
    00092
    00093   SineController(int number_controlled=-1);
    00094
    00095   /** initialisation of the controller with the given sensor/ motornumber
    00096       Must be called before use.
    00097   */
    00098   virtual void init(int sensornumber, int motornumber, RandGen* randGen = 0);
    00099
    00100   /** @return Number of sensors the controller was initialised
    00101       with or 0 if not initialised */
    00102   virtual int getSensorNumber() const {return number_sensors;}
    00103
    00104
    00105   /** @return Number of motors the controller was initialised
    00106       with or 0 if not initialised */
    00107   virtual int getMotorNumber() const {return number_motors;}
    00108
    00109   /** performs one step (includes learning).
    00110       Calculates motor commands from sensor inputs.
    00111       @param sensors sensors inputs scaled to [-1,1]
    00112       @param sensornumber length of the sensor array
    00113       @param motors motors outputs. MUST have enough space for motor values!
    00114       @param motornumber length of the provided motor array
    00115   */
    00116   virtual void step(const sensor* sensors, int sensornumber,
    00117                     motor* motors, int motornumber);
    00118   /** performs one step without learning.
    00119       @see step
    00120   */
    00121   virtual void stepNoLearning(const sensor* , int number_sensors,
    00122                               motor* , int number_motors);
    00123
    00124
    00125   virtual std::list<iparamkey> getInternalParamNames()const  { return std::list<iparamkey>(); }
    00126
    00127   virtual std::list<iparamval> getInternalParams() const { return std::list<iparamval>(); }
    00128
    00129
    00130   virtual paramval getParam(const paramkey& key) const;
    00131   virtual bool setParam(const paramkey& key, paramval val);
    00132   virtual paramlist getParamList() const ;
    00133
    00134   /********* STORABLE INTERFACE ******/
    00135   /// @see Storable
    00136   virtual bool store(FILE* f) const {
    00137     Configurable::print(f,"");
    00138     return true;
    00139   }
    00140
    00141   /// @see Storable
    00142   virtual bool restore(FILE* f) {
    00143     Configurable::parse(f);
    00144     return true;
    00145   }
    00146
    00147
    00148 protected:
    00149
    00150   int t;
    00151   std::string name;
    00152   int number_sensors;
    00153   int number_motors;
    00154   int number_controlled; // number of motors that are controlled. The remaining are set to 0;
    00155
    00156   paramval sineRate;
    00157   paramval phaseShift;
    00158 };
    00159
    00160 #endif