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

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# wiringsequence.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2007 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: wiringsequence.h,v $
    00023  *   Revision 1.4  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 1.3  2008/04/28 11:14:54  guettler
    00033  *   removed include "abstractrobot.h" (not needed)
    00034  *
    00035  *   Revision 1.2  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 1.1  2007/11/29 19:18:33  martius
    00043  *   sequence of wirings
    00044  *
    00045  *   Revision 1.1  2007/11/28 10:30:56  martius
    00046  *   wiring with feedback connections
    00047  *
    00048  *                                            *
    00049  *                                                                         *
    00050  ***************************************************************************/
    00051 #ifndef __WIRINGSEQUENCE_H
    00052 #define __WIRINGSEQUENCE_H
    00053
    00054 #include "abstractwiring.h"
    00055 #include <vector>
    00056
    00057 /** Implements a sequence of wirings
    00058  */
    00059 class WiringSequence :public AbstractWiring{
    00060 public:
    00061
    00062   /** constructor: The wirings given in the list
    00063       are applied in the sequence. For the sensors in normal order and
    00064       for the motors in reverse order*/
    00065   WiringSequence(std::list<AbstractWiring*>);
    00066   /** constructor provided for convinience, essentially calls addWiring(w1);addWiring(w2)
    00067    */
    00068   WiringSequence(AbstractWiring* w1, AbstractWiring* w2);
    00069
    00070   virtual ~WiringSequence();
    00071
    00072 protected:
    00073   virtual bool initIntern(int robotsensornumber, int robotmotornumber, RandGen* randGen=0);
    00074
    00075   virtual bool wireSensorsIntern(const sensor* rsensors, int rsensornumber,
    00076                                  sensor* csensors, int csensornumber,
    00077                                  double noise);
    00078
    00079   virtual bool wireMotorsIntern(motor* rmotors, int rmotornumber,
    00080                                 const motor* cmotors, int cmotornumber);
    00081
    00082
    00083 public:
    00084
    00085   /** adds a wiring to the list of wirings*/
    00086   virtual void addWiring(AbstractWiring* wiring);
    00087
    00088
    00089   /** pass through of first wiring
    00090    */
    00091   virtual iparamkeylist getInternalParamNames() const;
    00092
    00093   /** pass through of first wiring
    00094   */
    00095   virtual iparamvallist getInternalParams() const;
    00096
    00097 protected:
    00098   std::vector<AbstractWiring*> wirings;
    00099   bool initialised;
    00100
    00101 };
    00102
    00103 #endif