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# abstractcontrolleradapter.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: abstractcontrolleradapter.h,v $
    00024  *   Revision 1.2  2008/04/17 14:54:44  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 08:05:03  robot3
    00032  *   this is an adapter class which implements all needed things. This class is
    00033  *   used for example by the DiscreteControllerAdapter.
    00034  *
    00035
    00036  *                                                                         *
    00037  ***************************************************************************/
    00038 #ifndef __ABSTRACTCONTROLLERADAPTER_H
    00039 #define __ABSTRACTCONTROLLERADAPTER_H
    00040
    00041 #include "abstractcontroller.h"
    00042
    00043 /**
    00044  * Abstract adapter class (interface) for robot controller.
    00045  * The controller gets a number of input sensor values each timestep
    00046  *  and has to generate a number of output motor values.
    00047  *
    00048  * Interface assumes the following usage:
    00049  *  - init() is called first to initialise the dimension of sensor- and motor space
    00050  *  - each time step
    00051  *     either step() or stepNoLearning() is called to ask the controller for motor values.
    00052  *
    00053  * This is an abstract adapter class, it's useful for implementing adapters such as the
    00054  * DescreteController, which can be used with all Controllers.
    00055  */
    00056 class AbstractControllerAdapter : public AbstractController {
    00057 public:
    00058
    00059   /// contructor (hint: use $ID$ for revision)
    00060         AbstractControllerAdapter(AbstractController* controller)
    00061                 : AbstractController(controller->getName(),controller->getRevision()), controller(controller) {}
    00062
    00063         virtual ~AbstractControllerAdapter() {}
    00064
    00065 /****************************************************************************/
    00066 /*      AbstractControllerAdapter must implement the following classes:         */
    00067 /*      AbstractController, Configurable, Inspectable, Storeable                    */
    00068 /****************************************************************************/
    00069
    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                 this->sensorNumber=sensornumber;
    00082                 this->motorNumber=motornumber;
    00083                 controller->init(sensornumber,motornumber);
    00084         }
    00085
    00086   /** @return Number of sensors the controller
    00087       was initialised with or 0 if not initialised */
    00088         virtual int getSensorNumber() const { return controller->getSensorNumber();}
    00089
    00090   /** @return Number of motors the controller
    00091       was initialised with or 0 if not initialised */
    00092         virtual int getMotorNumber() const {return controller->getMotorNumber();}
    00093
    00094   /** performs one step (includes learning).
    00095       Calculates motor commands from sensor inputs.
    00096         @param sensors sensors inputs scaled to [-1,1]
    00097         @param sensornumber length of the sensor array
    00098         @param motors motors outputs. MUST have enough space for motor values!
    00099         @param motornumber length of the provided motor array
    00100   */
    00101         virtual void step(const sensor* sensors, int sensornumber,
    00102                           motor* motors, int motornumber)
    00103         { controller->step(sensors, sensornumber, motors,  motornumber); }
    00104
    00105   /** performs one step without learning.
    00106         @see step
    00107   */
    00108         virtual void stepNoLearning(const sensor* sensors , int sensornumber,
    00109                                     motor* motors, int motornumber)
    00110         { controller->stepNoLearning(sensors,sensornumber,motors,motornumber); }
    00111
    00112 /****************************************************************************/
    00113 /*      END methods of AbstractController                                           */
    00114 /****************************************************************************/
    00115
    00116 /****************************************************************************/
    00117 /*      BEGIN methods of Configurable                                           */
    00118 /****************************************************************************/
    00119
    00120
    00121
    00122 /****************************************************************************/
    00123 /*      END methods of Configurable                                                 */
    00124 /****************************************************************************/
    00125
    00126 /****************************************************************************/
    00127 /*      BEGIN methods of Inspectable                                            */
    00128 /****************************************************************************/
    00129
    00130   /** The list of the names of all internal parameters given by getInternalParams().
    00131       The naming convention is "v[i]" for vectors
    00132        and "A[i][j]" for matrices, where i, j start at 0.
    00133         @return: list of keys
    00134    */
    00135         virtual iparamkeylist getInternalParamNames() const { return controller->getInternalParamNames();}
    00136
    00137           /** @return: list of values
    00138    */
    00139         virtual iparamvallist getInternalParams() const { return controller->getInternalParams(); }
    00140
    00141 /****************************************************************************/
    00142 /*      END methods of Inspectable                                                  */
    00143 /****************************************************************************/
    00144
    00145
    00146
    00147 protected:
    00148         AbstractController* controller; // the controller for the adapter to handle
    00149         int sensorNumber; // number of sensors the controller has
    00150         int motorNumber; // number of motors the controller has
    00151
    00152 };
    00153
    00154 #endif