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# abstractcontroller.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: abstractcontroller.h,v $
    00023  *   Revision 1.12.6.3  2006/03/30 12:35:12  martius
    00024  *   documentation updated
    00025  *
    00026  *   Revision 1.12.6.2  2006/01/18 16:48:10  martius
    00027  *   configurables can be stored and reloaded
    00028  *
    00029  *   Revision 1.12.6.1  2006/01/17 16:58:39  martius
    00030  *   loading and storing
    00031  *
    00032  *   Revision 1.12  2005/08/06 20:47:54  martius
    00033  *   Commented
    00034  *
    00035  *   Revision 1.11  2005/08/03 20:28:57  martius
    00036  *   inspectable interface
    00037  *
    00038  *   Revision 1.10  2005/06/21 15:31:11  martius
    00039  *   getSensorNumber and getMotorMumber added controller interface
    00040  *
    00041  *   Revision 1.9  2005/06/20 09:04:16  martius
    00042  *   init function added to controller-interface
    00043  *
    00044  *   Revision 1.8  2005/06/17 10:45:22  martius
    00045  *   GPL added
    00046  *                                                                 *
    00047  ***************************************************************************/
    00048 #ifndef __ABSTRACTCONTROLLER_H
    00049 #define __ABSTRACTCONTROLLER_H
    00050
    00051 #include <stdio.h>
    00052 #include "configurable.h"
    00053 #include "inspectable.h"
    00054
    00055 typedef double sensor;
    00056 typedef double motor;
    00057
    00058 /**
    00059  * Abstract class (interface) for robot controller.
    00060  * The controller gets a number of input sensor values each timestep
    00061  *  and has to generate a number of output motor values.
    00062  *
    00063  * Interface assumes the following usage:
    00064  *  - init is called first to initialise the dimension of sensor- and motor space
    00065  *  - each time step
    00066  *     either step() or stepNoLearning() is called to ask the controller for motor values.
    00067  */
    00068 class AbstractController : public Configurable, public Inspectable {
    00069 public:
    00070   /** initialisation of the controller with the given sensor/ motornumber
    00071       Must be called before use.
    00072   */
    00073   virtual void init(int sensornumber, int motornumber) ABSTRACT;
    00074
    00075   /** @return Number of sensors the controller
    00076       was initialised with or 0 if not initialised */
    00077   virtual int getSensorNumber() const ABSTRACT;
    00078
    00079   /** @return Number of motors the controller
    00080       was initialised with or 0 if not initialised */
    00081   virtual int getMotorNumber() const ABSTRACT;
    00082
    00083   /** performs one step (includes learning).
    00084       Calculates motor commands from sensor inputs.
    00085       @param sensors sensors inputs scaled to [-1,1]
    00086       @param sensornumber length of the sensor array
    00087       @param motors motors outputs. MUST have enough space for motor values!
    00088       @param motornumber length of the provided motor array
    00089   */
    00090   virtual void step(const sensor* sensors, int sensornumber,
    00091                     motor* motors, int motornumber) ABSTRACT;
    00092   /** performs one step without learning.
    00093       @see step
    00094   */
    00095   virtual void stepNoLearning(const sensor* , int number_sensors,
    00096                               motor* , int number_motors) ABSTRACT;
    00097
    00098   /** stores the controller values to a given file.
    00099       This should include internal parameters.
    00100   */
    00101   virtual bool store(const char* filename) ABSTRACT;
    00102
    00103   /** loads the controller values from a given file.
    00104       This should include internal parameters
    00105   */
    00106   virtual bool restore(const char* filename) ABSTRACT;
    00107
    00108
    00109
    00110 };
    00111
    00112 #endif