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# measureadapter.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  *    guettler@informatik.uni-leipzig.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: measureadapter.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  2008/01/17 10:04:04  der
    00032  *   first version
    00033  *
    00034  *
    00035  *                                                                         *
    00036  ***************************************************************************/
    00037 #ifndef __MEASUREADAPTER_H
    00038 #define __MEASUREADAPTER_H
    00039
    00040 #include "abstractcontrolleradapter.h"
    00041 #include "statistictools.h"
    00042 #include "complexmeasure.h"
    00043
    00044 // begin forward declaration
    00045 // end forward declaration
    00046
    00047 /**
    00048  * This is a passive controller adapter who is passive and can handle AbstractMeasures.
    00049  * Normally the sensor and/or motor values are measured.
    00050  * @see AbstractControllerAdapter
    00051  */
    00052 class MeasureAdapter : public AbstractControllerAdapter
    00053 {
    00054
    00055 public:
    00056
    00057   /**
    00058    * Constructs the MeasureAdapter.
    00059    *
    00060    */
    00061   MeasureAdapter(AbstractController* controller);
    00062
    00063   virtual ~MeasureAdapter();
    00064
    00065   /**
    00066    * Adds a ComplexMeasure for measuring sensor values. For each
    00067    * sensor a ComplexMeasure is created.
    00068    */
    00069   virtual std::list<ComplexMeasure*> addSensorComplexMeasure(char* measureName, ComplexMeasureMode mode,int numberBins, int stepSize);
    00070
    00071   /****************************************************************************/
    00072   /*    BEGIN methods of AbstractController                                 */
    00073   /****************************************************************************/
    00074
    00075   /** initialisation of the controller with the given sensor/ motornumber
    00076   * Must NORMALLY be called before use. For all ControllerAdapters
    00077   * call first AbstractControllerAdapter::init(sensornumber,motornumber)
    00078   * if you overwrite this method
    00079   */
    00080   virtual void init(int sensornumber, int motornumber, RandGen* randGen = 0);
    00081
    00082   /** performs one step (includes learning).
    00083       Calculates motor commands from sensor inputs.
    00084   @param sensors sensors inputs scaled to [-1,1]
    00085   @param sensornumber length of the sensor array
    00086   @param motors motors outputs. MUST have enough space for motor values!
    00087   @param motornumber length of the provided motor array
    00088   */
    00089   virtual void step(const sensor* sensors, int sensornumber,
    00090                     motor* motors, int motornumber);
    00091
    00092   /** performs one step without learning.
    00093   @see step
    00094   */
    00095   virtual void stepNoLearning(const sensor* sensors , int sensornumber,
    00096                               motor* motors, int motornumber);
    00097
    00098   /****************************************************************************/
    00099   /*    END methods of AbstractController                                           */
    00100   /****************************************************************************/
    00101
    00102   /****************************************************************************/
    00103   /*    BEGIN methods of Storeable                                              */
    00104   /****************************************************************************/
    00105
    00106   /** stores the object to the given file stream (binary).
    00107   */
    00108   virtual bool store(FILE* f) const;
    00109
    00110   /** loads the object from the given file stream (binary).
    00111   */
    00112   virtual bool restore(FILE* f);
    00113
    00114   /****************************************************************************/
    00115   /*    END methods of Storeable                                                    */
    00116   /****************************************************************************/
    00117
    00118   /****************************************************************************/
    00119   /*    BEGIN methods of Inspectable                                            */
    00120   /****************************************************************************/
    00121
    00122   /** The list of the names of all internal parameters given by getInternalParams().
    00123       The naming convention is "v[i]" for vectors
    00124        and "A[i][j]" for matrices, where i, j start at 0.
    00125   @return: list of keys
    00126    */
    00127   virtual iparamkeylist getInternalParamNames() const;
    00128
    00129   /** @return: list of values
    00130   */
    00131   virtual iparamvallist getInternalParams() const;
    00132
    00133   /****************************************************************************/
    00134   /*    END methods of Inspectable                                                  */
    00135   /****************************************************************************/
    00136
    00137
    00138
    00139 protected:
    00140   StatisticTools* st;
    00141   bool initialized;
    00142   motor* motorValues;
    00143   sensor* sensorValues;
    00144
    00145 };
    00146
    00147 #endif