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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 1.10  2009/10/23 12:38:30  martius
    00024  *   noise is stored in a matrix internally such that it can be inspected easily
    00025  *
    00026  *   Revision 1.9  2009/08/05 22:32:21  martius
    00027  *   big change:
    00028  *       abstractwiring is responsable for providing sensors and motors
    00029  *        and noise to the inspectable interface.
    00030  *       external interface: unchanged except plotMode in constructor
    00031  *       internal interface: all subclasses have to overload
    00032  *         initIntern, wireSensorsIntern, wireMotorsIntern
    00033  *       All existing implementation are changed
    00034  *
    00035  *   Revision 1.8  2008/09/16 15:37:29  martius
    00036  *   added randomgen
    00037  *
    00038  *   Revision 1.7  2008/04/28 11:14:54  guettler
    00039  *   removed include "abstractrobot.h" (not needed)
    00040  *
    00041  *   Revision 1.6  2008/04/17 14:54:45  martius
    00042  *   randomGen added, which is a random generator with long period and an
    00043  *    internal state. Each Agent has an instance and passed it to the controller
    00044  *    and the wiring. This is good for
    00045  *   a) repeatability on agent basis,
    00046  *   b) parallel execution as done in ode_robots
    00047  *
    00048  *   Revision 1.5  2007/11/07 13:40:24  martius
    00049  *   sensors and motors also added as type here (not very nice anyway)
    00050  *
    00051  *   Revision 1.4  2006/12/21 11:44:17  martius
    00052  *   commenting style for doxygen //< -> ///<
    00053  *   FOREACH and FOREACHC are macros for collection iteration
    00054  *
    00055  *   Revision 1.3  2006/07/20 17:14:36  martius
    00056  *   removed std namespace from matrix.h
    00057  *   storable interface
    00058  *   abstract model and invertablemodel as superclasses for networks
    00059  *
    00060  *   Revision 1.2  2006/07/14 12:24:02  martius
    00061  *   selforg becomes HEAD
    00062  *
    00063  *   Revision 1.1.2.1  2005/11/16 11:24:27  martius
    00064  *   moved to selforg
    00065  *
    00066  *   Revision 1.8  2005/11/09 13:55:44  martius
    00067  *   *** empty log message ***
    00068  *
    00069  *   Revision 1.7  2005/10/24 09:52:36  fhesse
    00070  *   comments in doxygen
    00071  *
    00072  *   Revision 1.6  2005/10/06 17:11:36  martius
    00073  *   switched to stl lists
    00074  *
    00075  *   Revision 1.5  2005/08/03 20:34:58  martius
    00076  *   use if Inspectable interface
    00077  *
    00078  *   Revision 1.4  2005/07/21 15:14:47  martius
    00079  *   wireSensors and wireMotors get constant fields
    00080  *
    00081  *   Revision 1.3  2005/07/18 14:44:27  martius
    00082  *   noise moved into wiring
    00083  *
    00084  *   Revision 1.2  2005/07/18 10:14:45  martius
    00085  *   noise is added here
    00086  *
    00087  *   Revision 1.1  2005/07/14 15:57:53  fhesse
    00088  *   now agent contains controller, robot and wiring, plotting ability included, therefore plotagent can be removed; ono2onewiring replaces one2oneagent
    00089  *                                            *
    00090  *                                                                         *
    00091  ***************************************************************************/
    00092 #ifndef __ABSTRACTWIRING_H
    00093 #define __ABSTRACTWIRING_H
    00094
    00095 //#include "abstractrobot.h"
    00096 #include "matrix.h"
    00097 #include "noisegenerator.h"
    00098 #include "inspectable.h"
    00099 #include "randomgenerator.h"
    00100
    00101
    00102 /** Abstract wiring-object between controller and robot.
    00103  *  Implements wiring of robot sensors to inputs of the controller and
    00104  *  controller outputs to robot motors.
    00105  */
    00106 class AbstractWiring : public Inspectable {
    00107 public:
    00108   typedef double sensor;
    00109   typedef double motor;
    00110
    00111   enum PlotTypes {Robot, Controller, Noise};
    00112
    00113
    00114   /** constructor
    00115    *  @param noise NoiseGenerator that is used for adding noise to sensor values
    00116    */
    00117   AbstractWiring(NoiseGenerator* noise, int plotMode=Controller)
    00118     : plotMode(plotMode) {
    00119     rsensornumber = 0;
    00120     rmotornumber  = 0;
    00121     csensornumber = 0;
    00122     cmotornumber  = 0;
    00123     noiseGenerator = noise;
    00124     noisevals=0;
    00125     initialised = false;
    00126   }
    00127
    00128   /** destructor
    00129    */
    00130   virtual ~AbstractWiring(){
    00131     if(noiseGenerator) delete noiseGenerator;
    00132   }
    00133
    00134   /** Initializes the  number of sensors and motors from robot
    00135    *  (to be precise the internal parameters rsensornumber and rmotornumber!),
    00136    *  calculates the number of sensors and motors on controller side.
    00137    *  The internal version initIntern() is called from here and
    00138    *   be overloaded to calculate and provide the appropriate numbers
    00139    *  controllersensornumber (csensornumber), controllermotornumber (cmotornumber),
    00140    *  robotsensornumber (rsensornumber) and robotmotornumber (rmotornumber),
    00141    *  @param randGen pointer to random generator, if not given then a new one is created
    00142    *  @return returns false on error, otherwise true
    00143    */
    00144   virtual bool init(int robotsensornumber, int robotmotornumber, RandGen* randGen=0);
    00145
    00146   /** Realizes wiring from robot sensors to controller sensors.
    00147    *   The internal version wireSensorsIntern() is called from here and
    00148    *    must be overloaded in order to implement the appropriate mapping.
    00149    *   @param rsensors pointer to array of sensorvalues from robot
    00150    *   @param rsensornumber number of sensors from robot
    00151    *   @param csensors pointer to array of sensorvalues for controller
    00152    *   @param csensornumber number of sensors to controller
    00153    *   @param noise size of the noise added to the sensors
    00154    *  @return returns false on error, otherwise true
    00155    */
    00156   virtual bool wireSensors(const sensor* rsensors, int rsensornumber,
    00157                            sensor* csensors, int csensornumber,
    00158                            double noiseStrength);
    00159
    00160   /** Realizes wiring from controller motor outputs to robot motors.
    00161    *   The internal version wireMotorsIntern() is called from here and
    00162    *    must be overloaded in order to implement the appropriate mapping.
    00163    *   @param rmotors pointer to array of motorvalues for robot
    00164    *   @param rmotornumber number of robot motors
    00165    *   @param cmotors pointer to array of motorvalues from controller
    00166    *   @param cmotornumber number of motorvalues from controller
    00167    *   @return returns false if error, else true
    00168    */
    00169   virtual bool wireMotors(motor* rmotors, int rmotornumber,
    00170                           const motor* cmotors, int cmotornumber);
    00171
    00172   /** Returns the number of sensors on robot side.
    00173    */
    00174   virtual int getRobotSensornumber(){return rsensornumber;}
    00175
    00176   /** Returns the number of motors on robot side.
    00177    */
    00178   virtual int getRobotMotornumber() {return rmotornumber;}
    00179
    00180   /** Returns the number of sensors on controller side.
    00181    */
    00182   virtual int getControllerSensornumber(){return csensornumber;}
    00183
    00184   /** Returns the number of motors on controller side.
    00185    */
    00186   virtual int getControllerMotornumber() {return cmotornumber;}
    00187
    00188
    00189 protected:
    00190   /** to be overloaded by subclasses
    00191       @see init()
    00192    */
    00193   virtual bool initIntern(int robotsensornumber, int robotmotornumber, RandGen* randGen=0) = 0;
    00194
    00195   /** to be overloaded by subclasses
    00196       @see wireSensors()
    00197    */
    00198   virtual bool wireSensorsIntern(const sensor* rsensors, int rsensornumber,
    00199                                  sensor* csensors, int csensornumber,
    00200                                  double noiseStrength) = 0;
    00201
    00202   /** to be overloaded by subclasses
    00203       @see wireMotors()
    00204    */
    00205   virtual bool wireMotorsIntern(motor* rmotors, int rmotornumber,
    00206                                 const motor* cmotors, int cmotornumber)  = 0;
    00207
    00208
    00209
    00210   /// using plotTypes this variables defines what is plotted
    00211   int plotMode;
    00212   /// for storing the noise values
    00213   matrix::Matrix mNoise;
    00214   sensor* noisevals; // pointer to the noisevalues stored in the matrix
    00215
    00216   /// number of sensors at robot side
    00217   int rsensornumber;
    00218   /// copy of the last robot sensors
    00219   matrix::Matrix mRsensors;
    00220
    00221   /// number of motors at robot side
    00222   int rmotornumber;
    00223   /// copy of the last robot motors
    00224   matrix::Matrix mRmotors;
    00225
    00226   /// number of sensors at controller side
    00227   int csensornumber;
    00228   /// copy of the last controller sensors
    00229   matrix::Matrix mCsensors;
    00230
    00231   /// number of motors at controller side
    00232   int cmotornumber;
    00233   /// copy of the last controller motors
    00234   matrix::Matrix mCmotors;
    00235
    00236   /// noise generator
    00237   NoiseGenerator* noiseGenerator;
    00238
    00239   bool initialised;
    00240 };
    00241
    00242 #endif