Robotsystem of the Robot Group Leipzig: 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 1.2  2006/07/14 12:24:02  martius
    00024  *   selforg becomes HEAD
    00025  *
    00026  *   Revision 1.1.2.1  2005/11/16 11:24:28  martius
    00027  *   moved to selforg
    00028  *
    00029  *   Revision 1.2  2005/10/24 13:32:07  fhesse
    00030  *   comments adjusted and in doxygen style
    00031  *
    00032  *   Revision 1.1  2005/08/22 17:28:13  martius
    00033  *   a 1 to 1 wiring that supports the selection of some sensors only
    00034  *
    00035  *                                                                         *
    00036  ***************************************************************************/
    00037 #ifndef __SELECTIVEONE2ONEWIRING_H
    00038 #define __SELECTIVEONE2ONEWIRING_H
    00039
    00040 #include "one2onewiring.h"
    00041
    00042 typedef bool (*select_predicate)(unsigned int index, unsigned int len);
    00043
    00044 bool select_all(unsigned int index, unsigned int len);
    00045 bool select_firsthalf(unsigned int index, unsigned int len);
    00046
    00047
    00048 /**
    00049  *   Implements a selective one to one wireing of robot sensors to inputs of the controller
    00050  *   and controller outputs to robot motors.
    00051  */
    00052 class SelectiveOne2OneWiring : public One2OneWiring{
    00053 public:
    00054   /** constructor
    00055       @param noise NoiseGenerator that is used for adding noise to sensor values
    00056       @param sel_sensor select_predicate describung what sensors should be selected
    00057   */
    00058   SelectiveOne2OneWiring(NoiseGenerator* noise, select_predicate sel_sensor);
    00059   virtual ~SelectiveOne2OneWiring();
    00060
    00061   /** initializes the number of sensors and motors on robot side, calculate
    00062       number of sensors and motors on controller side
    00063   */
    00064   virtual bool init(int robotsensornumber, int robotmotornumber);
    00065
    00066   /// Realizes one to one wiring from robot sensors to controller sensors.
    00067   //   @param rsensors pointer to array of sensorvalues from robot
    00068   //   @param rsensornumber number of sensors from robot
    00069   //   @param csensors pointer to array of sensorvalues for controller
    00070   //   @param csensornumber number of sensors to controller
    00071   //   @param noise size of the noise added to the sensors
    00072   virtual bool wireSensors(const sensor* rsensors, int rsensornumber,
    00073                            sensor* csensors, int csensornumber,
    00074                            double noise);
    00075
    00076 protected:
    00077   select_predicate sel_sensor;
    00078
    00079 };
    00080
    00081 #endif