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

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# sinecontroller.h

Go to the documentation of this file.

    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: sinecontroller.h,v $
    00023  *   Revision 1.16  2009/08/10 15:02:17  der
    00024  *   Impuls->Impulse
    00025  *
    00026  *   Revision 1.15  2009/03/31 15:53:11  martius
    00027  *   added amplitude
    00028  *
    00029  *   Revision 1.14  2009/02/02 15:37:44  martius
    00030  *   added impulswidth
    00031  *
    00032  *   Revision 1.13  2009/02/02 15:23:50  martius
    00033  *   added saw tooth and impuls oscillators
    00034  *   sinerate is now period which is counted in control cycles
    00035  *   changing the period does not change phase as it was before.
    00036  *
    00037  *   Revision 1.12  2008/04/17 14:54:45  martius
    00038  *   randomGen added, which is a random generator with long period and an
    00039  *    internal state. Each Agent has an instance and passed it to the controller
    00040  *    and the wiring. This is good for
    00041  *   a) repeatability on agent basis,
    00042  *   b) parallel execution as done in ode_robots
    00043  *
    00044  *   Revision 1.11  2007/03/26 13:13:47  martius
    00045  *   store and restore with params
    00046  *
    00047  *   Revision 1.10  2006/11/29 16:22:43  martius
    00048  *   name is a variable of configurable and is used as such
    00049  *
    00050  *   Revision 1.9  2006/08/02 09:32:03  martius
    00051  *   store and restore according to storable interface
    00052  *
    00053  *   Revision 1.8  2006/07/14 12:23:59  martius
    00054  *   selforg becomes HEAD
    00055  *
    00056  *   Revision 1.6.6.5  2006/06/25 21:56:08  martius
    00057  *   configureable has name and revision
    00058  *
    00059  *   Revision 1.6.6.4  2006/06/25 16:51:36  martius
    00060  *   configureable has name and revision
    00061  *   a robot is configureable by default
    00062  *
    00063  *   Revision 1.6.6.3  2006/03/30 12:35:13  martius
    00064  *   documentation updated
    00065  *
    00066  *   Revision 1.6.6.2  2006/01/18 16:48:35  martius
    00067  *   stored and restore
    00068  *
    00069  *   Revision 1.6.6.1  2005/11/14 15:38:17  martius
    00070  *   moved to selforg
    00071  *
    00072  *   Revision 1.6  2005/11/14 12:46:19  martius
    00073  *   added number of controlled motors
    00074  *
    00075  *   Revision 1.5  2005/11/09 13:56:34  martius
    00076  *   const in instspectable functions
    00077  *
    00078  *   Revision 1.4  2005/10/06 17:06:57  martius
    00079  *   switched to stl lists
    00080  *
    00081  *   Revision 1.3  2005/08/06 20:47:54  martius
    00082  *   Commented
    00083  *
    00084  *   Revision 1.2  2005/07/07 10:25:47  martius
    00085  *   added Phaseshift
    00086  *
    00087  *   Revision 1.1  2005/07/06 13:55:33  fhesse
    00088  *   initial version, realising sine and cosine outputs
    00089  *                                            *
    00090  *                                                                         *
    00091  ***************************************************************************/
    00092 #ifndef __SINECONTROLLER_H
    00093 #define __SINECONTROLLER_H
    00094
    00095
    00096 #include <stdio.h>
    00097 #include "abstractcontroller.h"
    00098
    00099 /**
    00100  * class for robot control with sine, sawtooth and impuls
    00101  *
    00102  * period is the length of the period in steps and
    00103  * phaseshift is the phase difference between channels given in Pi/2
    00104  */
    00105 class SineController : public AbstractController {
    00106 public:
    00107   enum function {Sine, SawTooth, Impulse};
    00108
    00109   /**
    00110      @param controlmask bitmask to select channels to control (default all)
    00111      @param function controller function to use
    00112    */
    00113   SineController(unsigned long int controlmask = (~0), function func = Sine );
    00114
    00115   /** initialisation of the controller with the given sensor/ motornumber
    00116       Must be called before use.
    00117   */
    00118   virtual void init(int sensornumber, int motornumber, RandGen* randGen = 0);
    00119
    00120   /** @return Number of sensors the controller was initialised
    00121       with or 0 if not initialised */
    00122   virtual int getSensorNumber() const {return number_sensors;}
    00123
    00124
    00125   /** @return Number of motors the controller was initialised
    00126       with or 0 if not initialised */
    00127   virtual int getMotorNumber() const {return number_motors;}
    00128
    00129   /** performs one step ( the same as StepNoLearning).
    00130       Calculates motor commands from sensor inputs.
    00131       @param sensors sensors inputs scaled to [-1,1]
    00132       @param sensornumber length of the sensor array
    00133       @param motors motors outputs. MUST have enough space for motor values!
    00134       @param motornumber length of the provided motor array
    00135   */
    00136   virtual void step(const sensor* sensors, int sensornumber,
    00137                     motor* motors, int motornumber);
    00138   /** performs one step.
    00139       @see step
    00140   */
    00141   virtual void stepNoLearning(const sensor* , int number_sensors,
    00142                               motor* , int number_motors);
    00143
    00144
    00145   /********* STORABLE INTERFACE ******/
    00146   /// @see Storable
    00147   virtual bool store(FILE* f) const {
    00148     Configurable::print(f,"");
    00149     return true;
    00150   }
    00151
    00152   /// @see Storable
    00153   virtual bool restore(FILE* f) {
    00154     Configurable::parse(f);
    00155     return true;
    00156   }
    00157
    00158   /// sine
    00159   static double sine(double x, double _unused);
    00160   /// saw tooth shape oscillator
    00161   static double sawtooth(double x, double _unused);
    00162   /// impuls shaped oscillator (+-1 for impulsWidth part of the time)
    00163   static double impuls(double x, double impulsWidth);
    00164
    00165 protected:
    00166
    00167   std::string name;
    00168   int number_sensors;
    00169   int number_motors;
    00170   unsigned long int controlmask; // bitmask to select channels. (the others are set to 0)
    00171
    00172   paramval period;
    00173   paramval phaseShift;
    00174   paramval impulsWidth;
    00175   double phase; // phase of oscillator
    00176   paramval amplitude;
    00177
    00178   double (*osci) (double x, double param); // oscillator function
    00179 };
    00180
    00181 #endif