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

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# teachable.h

Go to the documentation of this file.

    00001 /***************************************************************************
    00002  *   Copyright (C) 2009 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  *                                                                         *
    00024  *                                                                         *
    00025  *   $Log: teachable.h,v $
    00026  *   Revision 1.2  2009/08/10 15:01:49  der
    00027  *   added virtual destructor
    00028  *
    00029  *   Revision 1.1  2009/08/05 23:06:46  martius
    00030  *   new teachable interface for controller
    00031  *
    00032  *                                                                 *
    00033  ***************************************************************************/
    00034 #ifndef __TEACHABLE_H
    00035 #define __TEACHABLE_H
    00036
    00037 #include <selforg/matrix.h>
    00038
    00039 /**
    00040    Interface for teachable controller.
    00041 */
    00042 class Teachable {
    00043 public:
    00044
    00045   virtual ~Teachable() {}
    00046
    00047   /** The given motor teaching signal is used for this timestep.
    00048       It is used as a feed forward teaching signal for the controller.
    00049       Please note, that the teaching signal has to be given each timestep
    00050        for a continuous teaching process.
    00051      @param teaching: matrix with dimensions (motornumber,1)
    00052    */
    00053   virtual void setMotorTeaching(const matrix::Matrix& teaching) = 0;
    00054
    00055   /** The given sensor teaching signal (distal learning) is used for this timestep.
    00056       The belonging motor teachung signal is calculated by the inverse model.
    00057       See setMotorTeaching
    00058      @param teaching: matrix with dimensions (motorsensors,1)
    00059    */
    00060   virtual void setSensorTeaching(const matrix::Matrix& teaching) = 0;
    00061
    00062   /// returns the last motor values (useful for cross motor coupling)
    00063   virtual matrix::Matrix getLastMotorValues() = 0;
    00064
    00065   /// returns the last sensor values (useful for cross sensor coupling)
    00066   virtual matrix::Matrix getLastSensorValues() = 0;
    00067 };
    00068
    00069
    00070 #endif