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

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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 1.10  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 1.9  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 1.8  2007/12/12 10:26:14  der
    00040  *   MI: calculation of H(X) and H(Y|X) added
    00041  *
    00042  *   Revision 1.7  2006/12/21 11:44:17  martius
    00043  *   commenting style for doxygen //< -> ///<
    00044  *   FOREACH and FOREACHC are macros for collection iteration
    00045  *
    00046  *   Revision 1.6  2006/12/12 09:43:40  martius
    00047  *   getDefaultConf1()
    00048  *
    00049  *   Revision 1.5  2006/12/11 18:23:11  martius
    00050  *   changed order again: first all sensors, then all derivatives ...
    00051  *   noise is only added to first sensor set
    00052  *   now 2 functions for default configs
    00053  *   blind motors not as sets, but as direct number given
    00054  *
    00055  *   Revision 1.4  2006/12/04 17:44:28  martius
    00056  *   unclear
    00057  *
    00058  *   Revision 1.3  2006/12/04 16:05:10  der
    00059  *   under construction
    00060  *
    00061  *   Revision 1.2  2006/07/14 12:24:02  martius
    00062  *   selforg becomes HEAD
    00063  *
    00064  *   Revision 1.1.2.1  2005/11/16 11:24:28  martius
    00065  *   moved to selforg
    00066  *
    00067  *   Revision 1.6  2005/10/28 12:05:27  martius
    00068  *   adapted time horizont for derivative
    00069  *    to quater of the time horizont of averaging
    00070  *
    00071  *   Revision 1.5  2005/10/24 13:32:07  fhesse
    00072  *   comments adjusted and in doxygen style
    00073  *
    00074  *   Revision 1.4  2005/10/24 11:06:33  fhesse
    00075  *   comments adjusted and in doxygen style
    00076  *
    00077  *   Revision 1.3  2005/07/21 15:09:00  martius
    00078  *   blind motors
    00079  *
    00080  *   Revision 1.2  2005/07/21 11:30:59  fhesse
    00081  *   started with blind motors
    00082  *
    00083  *   Revision 1.1  2005/07/18 14:44:55  martius
    00084  *   wiring that supports derivatives
    00085  *
    00086  *                                                                         *
    00087  ***************************************************************************/
    00088 #ifndef __DERIVATIVEWIRING_H
    00089 #define __DERIVATIVEWIRING_H
    00090
    00091 #include "abstractwiring.h"
    00092
    00093 /**  Configuration Object for DerivativeWiring.
    00094      If all boolean parametes are false, id is set to true (equivalent to One2OneWiring)
    00095 */
    00096 typedef struct __DerivativeWiringConf {
    00097   bool useId;        //< include zeroth derivative
    00098   bool useFirstD;   ///< include first derivative
    00099   bool useSecondD;  ///< second include second derivative
    00100   double eps;       ///< update rate for floating average (0 -> no sensor variation, 1 -> no smoothing)
    00101   double derivativeScale;   ///< factor for the derivatives
    00102   unsigned int blindMotors;   ///< number of motors that are blind (not given to robot)
    00103 } DerivativeWiringConf;
    00104
    00105
    00106 /** Implements a wiring (between controller and robot)
    00107     which includes the first and second derivative
    00108     of the original robot sensor values
    00109 */
    00110 class DerivativeWiring : public AbstractWiring{
    00111 public:
    00112   /** constructor
    00113       @param conf  for giving the wished configuration of DerivativeWiring
    00114       via \ref __DerivativeWiringConf "DerivativeWiringConf"
    00115       @param noise NoiseGenerator that is used for adding noise to sensor values
    00116   */
    00117   DerivativeWiring(const DerivativeWiringConf& conf,
    00118                    NoiseGenerator* noise);
    00119
    00120   /** destructor
    00121    */
    00122   virtual ~DerivativeWiring();
    00123
    00124   /** Providing default configuration for DerivativeWiring with first derivative.
    00125       No smoothing and no scaling. ( as static method )
    00126    */
    00127   static DerivativeWiringConf getDefaultConf(){
    00128     DerivativeWiringConf c;
    00129     c.useId = true;        // use id
    00130     c.useFirstD = false;    // use first derivative
    00131     c.useSecondD = false;  // do not use secound derivative
    00132     c.eps = 1;             // no smoothing
    00133     c.derivativeScale=1;   // no scaleing
    00134     c.blindMotors=0;       // no blind motors used
    00135     return c;
    00136   };
    00137
    00138   /** Providing default configuration for DerivativeWiring for only first derivative.
    00139       smoothing over 4 steps and scale of 5. Use smaller noise!
    00140       ( as static method )
    00141    */
    00142   static DerivativeWiringConf getDefaultConf1(){
    00143     DerivativeWiringConf c;
    00144     c.useId = false;       // do not use id
    00145     c.useFirstD = true;    // use first derivative
    00146     c.useSecondD = false;  // do not use secound derivative
    00147     c.eps = 0.5;          // smoothing over 2 steps
    00148     c.derivativeScale=5;   // scaling with 5
    00149     c.blindMotors=0;       // no blind motors used
    00150     return c;
    00151   };
    00152
    00153 protected:
    00154
    00155   /** initializes the internal numbers of sensors and motors on robot side, calculate
    00156       number of sensors and motors on controller side
    00157   */
    00158   virtual bool initIntern(int robotsensornumber, int robotmotornumber, RandGen* randGen=0);
    00159
    00160   /** Realizes derivative wiring from robot sensors to controller sensors.
    00161       @param rsensors pointer to array of sensorvalues from robot
    00162       @param rsensornumber number of sensors from robot
    00163       @param csensors pointer to array of sensorvalues for controller
    00164       @param csensornumber number of sensors to controller
    00165       @param noise size of the noise added to the sensors
    00166   */
    00167   virtual bool wireSensorsIntern(const sensor* rsensors, int rsensornumber,
    00168                                  sensor* csensors, int csensornumber,
    00169                                  double noise);
    00170
    00171   /** Realizes wiring from controller motor outputs to robot motors.
    00172       @param rmotors pointer to array of motorvalues for robot
    00173       @param rmotornumber number of robot motors
    00174       @param cmotors pointer to array of motorvalues from controller
    00175       @param cmotornumber number of motorvalues from controller
    00176   */
    00177   virtual bool wireMotorsIntern(motor* rmotors, int rmotornumber,
    00178                                 const motor* cmotors, int cmotornumber);
    00179
    00180 protected:
    00181   /** Calculate the first derivative of the sensorvalues given by the robot
    00182    *  f'(x) = (f(x+1) - f(x-1)) / 2
    00183    *  since we do not have f(x+1) we go one timestep in the past
    00184    */
    00185   void calcFirstDerivative();
    00186
    00187   /** Calculate the secound derivative of the sensorvalues given by the robot
    00188    *  f'(x) = f(x) - 2f(x-1) + f(x-2)
    00189    */
    00190   void calcSecondDerivative();
    00191
    00192   /// used configuration
    00193   DerivativeWiringConf conf;
    00194   static const int buffersize=40;
    00195   int time;
    00196   /// number timesteps the sensor values are delayed for calculation of the derivative
    00197   //  int delay;
    00198
    00199
    00200   /// current and old smoothed sensor values of robot
    00201   sensor* sensorbuffer[buffersize];
    00202
    00203   /// current sensors (with noise)
    00204   // sensor* id;
    00205
    00206   /// current first derivative
    00207   sensor* first;
    00208
    00209   /// current second derivative
    00210   sensor* second;
    00211
    00212   /// array that stored the values of the blind motors
    00213   motor *blindMotors;
    00214
    00215 };
    00216
    00217 #endif