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# abstractcontroller.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: abstractcontroller.h,v $
    00023  *   Revision 1.19  2008/08/01 14:42:04  guettler
    00024  *   we try the trip to hell! make selforg AVR compatible...good luck (first changes)
    00025  *
    00026  *   Revision 1.18  2008/04/17 14:54:44  martius
    00027  *   randomGen added, which is a random generator with long period and an
    00028  *    internal state. Each Agent has an instance and passed it to the controller
    00029  *    and the wiring. This is good for
    00030  *   a) repeatability on agent basis,
    00031  *   b) parallel execution as done in ode_robots
    00032  *
    00033  *   Revision 1.17  2007/10/12 16:02:17  martius
    00034  *   asserts in init() for sensor and motor number
    00035  *
    00036  *   Revision 1.16  2006/08/04 15:16:13  martius
    00037  *   documentation
    00038  *
    00039  *   Revision 1.15  2006/07/20 17:14:34  martius
    00040  *   removed std namespace from matrix.h
    00041  *   storable interface
    00042  *   abstract model and invertablemodel as superclasses for networks
    00043  *
    00044  *   Revision 1.14  2006/07/14 12:23:57  martius
    00045  *   selforg becomes HEAD
    00046  *
    00047  *   Revision 1.12.6.4  2006/06/25 21:56:06  martius
    00048  *   configureable has name and revision
    00049  *
    00050  *   Revision 1.12.6.3  2006/03/30 12:35:12  martius
    00051  *   documentation updated
    00052  *
    00053  *   Revision 1.12.6.2  2006/01/18 16:48:10  martius
    00054  *   configurables can be stored and reloaded
    00055  *
    00056  *   Revision 1.12.6.1  2006/01/17 16:58:39  martius
    00057  *   loading and storing
    00058  *
    00059  *   Revision 1.12  2005/08/06 20:47:54  martius
    00060  *   Commented
    00061  *
    00062  *   Revision 1.11  2005/08/03 20:28:57  martius
    00063  *   inspectable interface
    00064  *
    00065  *   Revision 1.10  2005/06/21 15:31:11  martius
    00066  *   getSensorNumber and getMotorMumber added controller interface
    00067  *
    00068  *   Revision 1.9  2005/06/20 09:04:16  martius
    00069  *   init function added to controller-interface
    00070  *
    00071  *   Revision 1.8  2005/06/17 10:45:22  martius
    00072  *   GPL added
    00073  *                                                                 *
    00074  ***************************************************************************/
    00075 #ifndef __ABSTRACTCONTROLLER_H
    00076 #define __ABSTRACTCONTROLLER_H
    00077
    00078 #ifndef AVR
    00079
    00080 #include <stdio.h>
    00081 #include "configurable.h"
    00082 #include "inspectable.h"
    00083 #include "storeable.h"
    00084 #include "randomgenerator.h"
    00085
    00086 /**
    00087  * Abstract class (interface) for robot controller.
    00088  * The controller gets a number of input sensor values each timestep
    00089  *  and has to generate a number of output motor values.
    00090  *
    00091  * Interface assumes the following usage:
    00092  *  - init() is called first to initialise the dimension of sensor- and motor space
    00093  *  - each time step
    00094  *     either step() or stepNoLearning() is called to ask the controller for motor values.
    00095  */
    00096 class AbstractController : public Configurable, public Inspectable, public Storeable {
    00097 public:
    00098   typedef double sensor;
    00099   typedef double motor;
    00100
    00101   /// contructor (hint: use $ID$ for revision)
    00102   AbstractController(const std::string& name, const std::string& revision)
    00103     : Configurable(name, revision) {}
    00104
    00105   /** initialisation of the controller with the given sensor/ motornumber
    00106       Must be called before use. The random generator is optional.
    00107   */
    00108   virtual void init(int sensornumber, int motornumber, RandGen* randGen = 0)= 0;
    00109
    00110   /** @return Number of sensors the controller
    00111       was initialised with or 0 if not initialised */
    00112   virtual int getSensorNumber() const= 0;
    00113
    00114   /** @return Number of motors the controller
    00115       was initialised with or 0 if not initialised */
    00116   virtual int getMotorNumber() const= 0;
    00117
    00118   /** performs one step (includes learning).
    00119       Calculates motor commands from sensor inputs.
    00120       @param sensors sensors inputs scaled to [-1,1]
    00121       @param sensornumber length of the sensor array
    00122       @param motors motors outputs. MUST have enough space for motor values!
    00123       @param motornumber length of the provided motor array
    00124   */
    00125   virtual void step(const sensor* sensors, int sensornumber,
    00126                     motor* motors, int motornumber)= 0;
    00127   /** performs one step without learning.
    00128       @see step
    00129   */
    00130   virtual void stepNoLearning(const sensor* , int number_sensors,
    00131                               motor* , int number_motors)= 0;
    00132
    00133 };
    00134
    00135 #else /* AVR */
    00136
    00137 #include "configurable.h"
    00138 #include "inspectable.h"
    00139 #include "storeable.h"
    00140 #include "randomgenerator.h"
    00141
    00142 /**
    00143  * Abstract class (interface) for robot controller.
    00144  * The controller gets a number of input sensor values each timestep
    00145  *  and has to generate a number of output motor values.
    00146  *
    00147  * Interface assumes the following usage:
    00148  *  - init() is called first to initialise the dimension of sensor- and motor space
    00149  *  - each time step
    00150  *     either step() or stepNoLearning() is called to ask the controller for motor values.
    00151  */
    00152 class AbstractController : public Configurable, public Inspectable, public Storeable {
    00153 public:
    00154   typedef double sensor;
    00155   typedef double motor;
    00156
    00157   /// contructor (hint: use $ID$ for revision)
    00158   AbstractController(const std::string& name, const std::string& revision)
    00159     : Configurable(name, revision) {}
    00160
    00161   /** initialisation of the controller with the given sensor/ motornumber
    00162       Must be called before use. The random generator is optional.
    00163   */
    00164   virtual void init(int sensornumber, int motornumber, RandGen* randGen = 0)= 0;
    00165
    00166   /** @return Number of sensors the controller
    00167       was initialised with or 0 if not initialised */
    00168   virtual int getSensorNumber() const= 0;
    00169
    00170   /** @return Number of motors the controller
    00171       was initialised with or 0 if not initialised */
    00172   virtual int getMotorNumber() const= 0;
    00173
    00174   /** performs one step (includes learning).
    00175       Calculates motor commands from sensor inputs.
    00176       @param sensors sensors inputs scaled to [-1,1]
    00177       @param sensornumber length of the sensor array
    00178       @param motors motors outputs. MUST have enough space for motor values!
    00179       @param motornumber length of the provided motor array
    00180   */
    00181   virtual void step(const sensor* sensors, int sensornumber,
    00182                     motor* motors, int motornumber)= 0;
    00183   /** performs one step without learning.
    00184       @see step
    00185   */
    00186   virtual void stepNoLearning(const sensor* , int number_sensors,
    00187                               motor* , int number_motors)= 0;
    00188
    00189 };
    00190
    00191 #endif /* !AVR */
    00192
    00193 #endif