Robot Simulator of the Robotics Group for Self-Organization of Control: selectiveone2onewiring.h Source File

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# selectiveone2onewiring.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: selectiveone2onewiring.h,v $
    00023  *   Revision 1.6  2009/08/05 22:45:25  martius
    00024  *   added plotMode
    00025  *
    00026  *   Revision 1.5  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 1.4  2008/04/17 14:54:45  martius
    00036  *   randomGen added, which is a random generator with long period and an
    00037  *    internal state. Each Agent has an instance and passed it to the controller
    00038  *    and the wiring. This is good for
    00039  *   a) repeatability on agent basis,
    00040  *   b) parallel execution as done in ode_robots
    00041  *
    00042  *   Revision 1.3  2006/12/21 11:44:17  martius
    00043  *   commenting style for doxygen //< -> ///<
    00044  *   FOREACH and FOREACHC are macros for collection iteration
    00045  *
    00046  *   Revision 1.2  2006/07/14 12:24:02  martius
    00047  *   selforg becomes HEAD
    00048  *
    00049  *   Revision 1.1.2.1  2005/11/16 11:24:28  martius
    00050  *   moved to selforg
    00051  *
    00052  *   Revision 1.2  2005/10/24 13:32:07  fhesse
    00053  *   comments adjusted and in doxygen style
    00054  *
    00055  *   Revision 1.1  2005/08/22 17:28:13  martius
    00056  *   a 1 to 1 wiring that supports the selection of some sensors only
    00057  *
    00058  *                                                                         *
    00059  ***************************************************************************/
    00060 #ifndef __SELECTIVEONE2ONEWIRING_H
    00061 #define __SELECTIVEONE2ONEWIRING_H
    00062
    00063 #include "one2onewiring.h"
    00064 #include <functional>
    00065
    00066 /** predicate to select sensors.
    00067     First parameter is the index
    00068     and the second parameter is the length (or number of sensors).
    00069 */
    00070 struct select_predicate : public std::binary_function< int,  int, bool> {
    00071   virtual ~select_predicate(){}
    00072   virtual bool operator()( int index,  int len) { return true; }
    00073 };
    00074
    00075 struct select_all : public  select_predicate { };
    00076
    00077 struct select_firsthalf : public  select_predicate {
    00078   virtual ~select_firsthalf(){}
    00079   virtual bool operator()( int index,  int len) { return index < len/2; }
    00080 };
    00081
    00082 /// select sensors in the range \f[ [from, to] \f] (inclusively)
    00083 struct select_from_to : public  select_predicate {
    00084   virtual ~select_from_to(){}
    00085   select_from_to( int from,  int to) : from(from), to(to) {}
    00086   virtual bool operator()( int index,  int len) { return (index >= from) && (index <= to); }
    00087   int from;
    00088   int to;
    00089 };
    00090
    00091 /**
    00092  *   Implements a selective one to one wireing of robot sensors to inputs of the controller
    00093  *   and controller outputs to robot motors.
    00094  */
    00095 class SelectiveOne2OneWiring : public One2OneWiring{
    00096 public:
    00097   /** constructor
    00098       @param noise NoiseGenerator that is used for adding noise to sensor values
    00099       @param sel_sensor binary predicate taking the index and the length (number of sensors)
    00100              and decides which sensor to select
    00101   */
    00102   SelectiveOne2OneWiring(NoiseGenerator* noise, select_predicate* sel_sensor, int plotMode = Controller);
    00103   virtual ~SelectiveOne2OneWiring();
    00104
    00105 protected:
    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   virtual bool wireSensorsIntern(const sensor* rsensors, int rsensornumber,
    00118                                  sensor* csensors, int csensornumber,
    00119                                  double noise);
    00120
    00121 protected:
    00122   select_predicate* sel_sensor;
    00123
    00124 };
    00125
    00126 #endif