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

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# measureadapter.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  *    guettler@informatik.uni-leipzig.de                                   *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  *   $Log: measureadapter.h,v $
    00024  *   Revision 1.3  2009/08/10 07:40:27  guettler
    00025  *   uses new BackCaller implementation
    00026  *
    00027  *   Revision 1.2  2008/04/17 14:54:45  martius
    00028  *   randomGen added, which is a random generator with long period and an
    00029  *    internal state. Each Agent has an instance and passed it to the controller
    00030  *    and the wiring. This is good for
    00031  *   a) repeatability on agent basis,
    00032  *   b) parallel execution as done in ode_robots
    00033  *
    00034  *   Revision 1.1  2008/01/17 10:04:04  der
    00035  *   first version
    00036  *
    00037  *
    00038  *                                                                         *
    00039  ***************************************************************************/
    00040 #ifndef __MEASUREADAPTER_H
    00041 #define __MEASUREADAPTER_H
    00042
    00043 #include "abstractcontrolleradapter.h"
    00044 #include "backcaller.h"
    00045 #include "statistictools.h"
    00046 #include "complexmeasure.h"
    00047
    00048 // begin forward declaration
    00049 // end forward declaration
    00050
    00051 /**
    00052  * This is a passive controller adapter who is passive and can handle AbstractMeasures.
    00053  * Normally the sensor and/or motor values are measured.
    00054  * @see AbstractControllerAdapter
    00055  */
    00056 class MeasureAdapter : public AbstractControllerAdapter, public BackCaller
    00057 {
    00058
    00059 public:
    00060
    00061   /**
    00062    * Constructs the MeasureAdapter.
    00063    *
    00064    */
    00065   MeasureAdapter(AbstractController* controller);
    00066
    00067   virtual ~MeasureAdapter();
    00068
    00069   /**
    00070    * Adds a ComplexMeasure for measuring sensor values. For each
    00071    * sensor a ComplexMeasure is created.
    00072    */
    00073   virtual std::list<ComplexMeasure*> addSensorComplexMeasure(char* measureName, ComplexMeasureMode mode,int numberBins, int stepSize);
    00074
    00075   /****************************************************************************/
    00076   /*    BEGIN methods of AbstractController                                 */
    00077   /****************************************************************************/
    00078
    00079   /** initialisation of the controller with the given sensor/ motornumber
    00080   * Must NORMALLY be called before use. For all ControllerAdapters
    00081   * call first AbstractControllerAdapter::init(sensornumber,motornumber)
    00082   * if you overwrite this method
    00083   */
    00084   virtual void init(int sensornumber, int motornumber, RandGen* randGen = 0);
    00085
    00086   /** performs one step (includes learning).
    00087       Calculates motor commands from sensor inputs.
    00088   @param sensors sensors inputs scaled to [-1,1]
    00089   @param sensornumber length of the sensor array
    00090   @param motors motors outputs. MUST have enough space for motor values!
    00091   @param motornumber length of the provided motor array
    00092   */
    00093   virtual void step(const sensor* sensors, int sensornumber,
    00094                     motor* motors, int motornumber);
    00095
    00096   /** performs one step without learning.
    00097   @see step
    00098   */
    00099   virtual void stepNoLearning(const sensor* sensors , int sensornumber,
    00100                               motor* motors, int motornumber);
    00101
    00102   /****************************************************************************/
    00103   /*    END methods of AbstractController                                           */
    00104   /****************************************************************************/
    00105
    00106   /****************************************************************************/
    00107   /*    BEGIN methods of Storeable                                              */
    00108   /****************************************************************************/
    00109
    00110   /** stores the object to the given file stream (binary).
    00111   */
    00112   virtual bool store(FILE* f) const;
    00113
    00114   /** loads the object from the given file stream (binary).
    00115   */
    00116   virtual bool restore(FILE* f);
    00117
    00118   /****************************************************************************/
    00119   /*    END methods of Storeable                                                    */
    00120   /****************************************************************************/
    00121
    00122   /****************************************************************************/
    00123   /*    BEGIN methods of Inspectable                                            */
    00124   /****************************************************************************/
    00125
    00126   /** The list of the names of all internal parameters given by getInternalParams().
    00127       The naming convention is "v[i]" for vectors
    00128        and "A[i][j]" for matrices, where i, j start at 0.
    00129   @return: list of keys
    00130    */
    00131   virtual iparamkeylist getInternalParamNames() const;
    00132
    00133   /** @return: list of values
    00134   */
    00135   virtual iparamvallist getInternalParams() const;
    00136
    00137   /****************************************************************************/
    00138   /*    END methods of Inspectable                                                  */
    00139   /****************************************************************************/
    00140
    00141
    00142
    00143 protected:
    00144   StatisticTools* st;
    00145   bool initialized;
    00146   motor* motorValues;
    00147   sensor* sensorValues;
    00148
    00149 };
    00150
    00151 #endif