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# derivativewiring.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: derivativewiring.h,v $
    00023  *   Revision 1.9  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 1.8  2007/12/12 10:26:14  der
    00031  *   MI: calculation of H(X) and H(Y|X) added
    00032  *
    00033  *   Revision 1.7  2006/12/21 11:44:17  martius
    00034  *   commenting style for doxygen //< -> ///<
    00035  *   FOREACH and FOREACHC are macros for collection iteration
    00036  *
    00037  *   Revision 1.6  2006/12/12 09:43:40  martius
    00038  *   getDefaultConf1()
    00039  *
    00040  *   Revision 1.5  2006/12/11 18:23:11  martius
    00041  *   changed order again: first all sensors, then all derivatives ...
    00042  *   noise is only added to first sensor set
    00043  *   now 2 functions for default configs
    00044  *   blind motors not as sets, but as direct number given
    00045  *
    00046  *   Revision 1.4  2006/12/04 17:44:28  martius
    00047  *   unclear
    00048  *
    00049  *   Revision 1.3  2006/12/04 16:05:10  der
    00050  *   under construction
    00051  *
    00052  *   Revision 1.2  2006/07/14 12:24:02  martius
    00053  *   selforg becomes HEAD
    00054  *
    00055  *   Revision 1.1.2.1  2005/11/16 11:24:28  martius
    00056  *   moved to selforg
    00057  *
    00058  *   Revision 1.6  2005/10/28 12:05:27  martius
    00059  *   adapted time horizont for derivative
    00060  *    to quater of the time horizont of averaging
    00061  *
    00062  *   Revision 1.5  2005/10/24 13:32:07  fhesse
    00063  *   comments adjusted and in doxygen style
    00064  *
    00065  *   Revision 1.4  2005/10/24 11:06:33  fhesse
    00066  *   comments adjusted and in doxygen style
    00067  *
    00068  *   Revision 1.3  2005/07/21 15:09:00  martius
    00069  *   blind motors
    00070  *
    00071  *   Revision 1.2  2005/07/21 11:30:59  fhesse
    00072  *   started with blind motors
    00073  *
    00074  *   Revision 1.1  2005/07/18 14:44:55  martius
    00075  *   wiring that supports derivatives
    00076  *
    00077  *                                                                         *
    00078  ***************************************************************************/
    00079 #ifndef __DERIVATIVEWIRING_H
    00080 #define __DERIVATIVEWIRING_H
    00081
    00082 #include "abstractwiring.h"
    00083
    00084 /**  Configuration Object for DerivativeWiring.
    00085      If all boolean parametes are false, id is set to true (equivalent to One2OneWiring)
    00086 */
    00087 typedef struct __DerivativeWiringConf {
    00088   bool useId;        //< include zeroth derivative
    00089   bool useFirstD;   ///< include first derivative
    00090   bool useSecondD;  ///< second include second derivative
    00091   double eps;       ///< update rate for floating average (0 -> no sensor variation, 1 -> no smoothing)
    00092   double derivativeScale;   ///< factor for the derivatives
    00093   unsigned int blindMotors;   ///< number of motors that are blind (not given to robot)
    00094 } DerivativeWiringConf;
    00095
    00096
    00097 /** Implements a wiring (between controller and robot)
    00098     which includes the first and second derivative
    00099     of the original robot sensor values
    00100 */
    00101 class DerivativeWiring : public AbstractWiring{
    00102 public:
    00103   /** constructor
    00104       @param conf  for giving the wished configuration of DerivativeWiring
    00105       via \ref __DerivativeWiringConf "DerivativeWiringConf"
    00106       @param noise NoiseGenerator that is used for adding noise to sensor values
    00107   */
    00108   DerivativeWiring(const DerivativeWiringConf& conf,
    00109                    NoiseGenerator* noise);
    00110
    00111   /** destructor
    00112    */
    00113   virtual ~DerivativeWiring();
    00114
    00115   /** initializes the internal numbers of sensors and motors on robot side, calculate
    00116       number of sensors and motors on controller side
    00117   */
    00118   virtual bool init(int robotsensornumber, int robotmotornumber, RandGen* randGen=0);
    00119
    00120   /** Realizes derivative wiring from robot sensors to controller sensors.
    00121       @param rsensors pointer to array of sensorvalues from robot
    00122       @param rsensornumber number of sensors from robot
    00123       @param csensors pointer to array of sensorvalues for controller
    00124       @param csensornumber number of sensors to controller
    00125       @param noise size of the noise added to the sensors
    00126   */
    00127   virtual bool wireSensors(const sensor* rsensors, int rsensornumber,
    00128                            sensor* csensors, int csensornumber,
    00129                            double noise);
    00130
    00131   /** Realizes wiring from controller motor outputs to robot motors.
    00132       @param rmotors pointer to array of motorvalues for robot
    00133       @param rmotornumber number of robot motors
    00134       @param cmotors pointer to array of motorvalues from controller
    00135       @param cmotornumber number of motorvalues from controller
    00136   */
    00137   virtual bool wireMotors(motor* rmotors, int rmotornumber,
    00138                           const motor* cmotors, int cmotornumber);
    00139
    00140   /** Providing default configuration for DerivativeWiring with first derivative.
    00141       No smoothing and no scaling. ( as static method )
    00142    */
    00143   static DerivativeWiringConf getDefaultConf(){
    00144     DerivativeWiringConf c;
    00145     c.useId = true;        // use id
    00146     c.useFirstD = false;    // use first derivative
    00147     c.useSecondD = false;  // do not use secound derivative
    00148     c.eps = 1;             // no smoothing
    00149     c.derivativeScale=1;   // no scaleing
    00150     c.blindMotors=0;       // no blind motors used
    00151     return c;
    00152   };
    00153
    00154   /** Providing default configuration for DerivativeWiring for only first derivative.
    00155       smoothing over 4 steps and scale of 5. Use smaller noise!
    00156       ( as static method )
    00157    */
    00158   static DerivativeWiringConf getDefaultConf1(){
    00159     DerivativeWiringConf c;
    00160     c.useId = false;       // do not use id
    00161     c.useFirstD = true;    // use first derivative
    00162     c.useSecondD = false;  // do not use secound derivative
    00163     c.eps = 0.5;          // smoothing over 2 steps
    00164     c.derivativeScale=5;   // scaling with 5
    00165     c.blindMotors=0;       // no blind motors used
    00166     return c;
    00167   };
    00168
    00169 protected:
    00170   /** Calculate the first derivative of the sensorvalues given by the robot
    00171    *  f'(x) = (f(x+1) - f(x-1)) / 2
    00172    *  since we do not have f(x+1) we go one timestep in the past
    00173    */
    00174   void calcFirstDerivative();
    00175
    00176   /** Calculate the secound derivative of the sensorvalues given by the robot
    00177    *  f'(x) = f(x) - 2f(x-1) + f(x-2)
    00178    */
    00179   void calcSecondDerivative();
    00180
    00181   /// used configuration
    00182   DerivativeWiringConf conf;
    00183   static const int buffersize=40;
    00184   int time;
    00185   /// number timesteps the sensor values are delayed for calculation of the derivative
    00186   //  int delay;
    00187
    00188
    00189   /// current and old smoothed sensor values of robot
    00190   sensor* sensorbuffer[buffersize];
    00191
    00192   /// current sensors (with noise)
    00193   // sensor* id;
    00194
    00195   /// current first derivative
    00196   sensor* first;
    00197
    00198   /// current second derivative
    00199   sensor* second;
    00200
    00201   /// array that stored the values of the blind motors
    00202   motor *blindMotors;
    00203
    00204 };
    00205
    00206 #endif