Robot Simulator of the Robotics Group for Self-Organization of Control: one2onewiring.h Source File

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# one2onewiring.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: one2onewiring.h,v $
    00023  *   Revision 1.6  2009/08/05 22:32:21  martius
    00024  *   big change:
    00025  *       abstractwiring is responsable for providing sensors and motors
    00026  *        and noise to the inspectable interface.
    00027  *       external interface: unchanged except plotMode in constructor
    00028  *       internal interface: all subclasses have to overload
    00029  *         initIntern, wireSensorsIntern, wireMotorsIntern
    00030  *       All existing implementation are changed
    00031  *
    00032  *   Revision 1.5  2008/04/17 14:54:45  martius
    00033  *   randomGen added, which is a random generator with long period and an
    00034  *    internal state. Each Agent has an instance and passed it to the controller
    00035  *    and the wiring. This is good for
    00036  *   a) repeatability on agent basis,
    00037  *   b) parallel execution as done in ode_robots
    00038  *
    00039  *   Revision 1.4  2007/11/29 19:18:02  martius
    00040  *   blind channels
    00041  *
    00042  *   Revision 1.3  2006/07/20 17:14:36  martius
    00043  *   removed std namespace from matrix.h
    00044  *   storable interface
    00045  *   abstract model and invertablemodel as superclasses for networks
    00046  *
    00047  *   Revision 1.2  2006/07/14 12:24:02  martius
    00048  *   selforg becomes HEAD
    00049  *
    00050  *   Revision 1.1.2.1  2005/11/16 11:24:28  martius
    00051  *   moved to selforg
    00052  *
    00053  *   Revision 1.9  2005/10/28 12:05:54  martius
    00054  *   new inspectable interface
    00055  *
    00056  *   Revision 1.8  2005/10/24 13:32:07  fhesse
    00057  *   comments adjusted and in doxygen style
    00058  *
    00059  *   Revision 1.7  2005/10/06 17:11:37  martius
    00060  *   switched to stl lists
    00061  *
    00062  *   Revision 1.6  2005/08/31 11:10:52  martius
    00063  *   noise -> noisevals
    00064  *
    00065  *   Revision 1.5  2005/08/03 20:34:58  martius
    00066  *   use if Inspectable interface
    00067  *
    00068  *   Revision 1.4  2005/07/21 15:14:47  martius
    00069  *   wireSensors and wireMotors get constant fields
    00070  *
    00071  *   Revision 1.3  2005/07/18 14:44:27  martius
    00072  *   noise moved into wiring
    00073  *
    00074  *   Revision 1.2  2005/07/18 10:15:03  martius
    00075  *   noise is added here
    00076  *
    00077  *   Revision 1.1  2005/07/14 15:57:54  fhesse
    00078  *   now agent contains controller, robot and wiring, plotting ability included, therefore plotagent can be removed; ono2onewiring replaces one2oneagent
    00079  *                                            *
    00080  *                                                                         *
    00081  ***************************************************************************/
    00082 #ifndef __ONE2ONEWIRING_H
    00083 #define __ONE2ONEWIRING_H
    00084
    00085 #include "abstractwiring.h"
    00086
    00087 /** Implements one to one wireing of robot sensors to inputs of the controller
    00088     and controller outputs to robot motors.
    00089  */
    00090 class One2OneWiring :public AbstractWiring{
    00091 public:
    00092   /** constructor
    00093       @param noise NoiseGenerator that is used for adding noise to sensor values
    00094       @param plotMode see AbstractWiring
    00095       @param blind number of blind channels
    00096         (additional sensors and motors coupled directly)
    00097    */
    00098   One2OneWiring(NoiseGenerator* noise, int plotMode=Controller, int blind=0);
    00099
    00100   /** destructor
    00101    */
    00102   virtual ~One2OneWiring();
    00103
    00104 protected:
    00105
    00106   /** initializes the number of sensors and motors on robot side, calculate
    00107       number of sensors and motors on controller side
    00108    */
    00109   virtual bool initIntern(int robotsensornumber, int robotmotornumber, RandGen* randGen=0);
    00110
    00111   /** Realizes one to one wiring from robot sensors to controller sensors.
    00112       @param rsensors pointer to array of sensorvalues from robot
    00113       @param rsensornumber number of sensors from robot
    00114       @param csensors pointer to array of sensorvalues for controller
    00115       @param csensornumber number of sensors to controller
    00116       @param noise size of the noise added to the sensors
    00117   */
    00118   virtual bool wireSensorsIntern(const sensor* rsensors, int rsensornumber,
    00119                            sensor* csensors, int csensornumber,
    00120                            double noise);
    00121
    00122   /** Realizes one to one wiring from controller motor outputs to robot motors.
    00123       @param rmotors pointer to array of motorvalues for robot
    00124       @param rmotornumber number of robot motors
    00125       @param cmotors pointer to array of motorvalues from controller
    00126       @param cmotornumber number of motorvalues from controller
    00127   */
    00128   virtual bool wireMotorsIntern(motor* rmotors, int rmotornumber,
    00129                           const motor* cmotors, int cmotornumber);
    00130
    00131
    00132 protected:
    00133   int blind; /// number of blind channels
    00134   /// blind motor values
    00135   motor* blindmotors;
    00136
    00137 };
    00138
    00139 #endif