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# derivativewiring.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: derivativewiring.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 1.6  2005/10/28 12:05:27  martius
    00030  *   adapted time horizont for derivative
    00031  *    to quater of the time horizont of averaging
    00032  *
    00033  *   Revision 1.5  2005/10/24 13:32:07  fhesse
    00034  *   comments adjusted and in doxygen style
    00035  *
    00036  *   Revision 1.4  2005/10/24 11:06:33  fhesse
    00037  *   comments adjusted and in doxygen style
    00038  *
    00039  *   Revision 1.3  2005/07/21 15:09:00  martius
    00040  *   blind motors
    00041  *
    00042  *   Revision 1.2  2005/07/21 11:30:59  fhesse
    00043  *   started with blind motors
    00044  *
    00045  *   Revision 1.1  2005/07/18 14:44:55  martius
    00046  *   wiring that supports derivatives
    00047  *
    00048  *                                                                         *
    00049  ***************************************************************************/
    00050 #ifndef __DERIVATIVEWIRING_H
    00051 #define __DERIVATIVEWIRING_H
    00052
    00053 #include "abstractwiring.h"
    00054
    00055 /**  Configuration Object for DerivativeWiring.
    00056      If all boolean parametes are false, id is set to true (equivalent to One2OneWiring)
    00057 */
    00058 typedef struct __DerivativeWiringConf {
    00059   bool useId;        //< include zeroth derivative
    00060   bool useFirstD;   //< include first derivative
    00061   bool useSecondD;  //< second include second derivative
    00062   double eps;       //< update rate for floating average (0 -> no sensor variation, 1 -> no smoothing)
    00063   double derivativeScale;   //< factor for the derivatives
    00064   unsigned int blindMotorSets;   //< number of complete motor sets that are blind (not given to robot)
    00065 } DerivativeWiringConf;
    00066
    00067
    00068 /** Implements a wiring (between controller and robot)
    00069     which includes the first and second derivative
    00070     of the original robot sensor values
    00071 */
    00072 class DerivativeWiring : public AbstractWiring{
    00073 public:
    00074   /** constructor
    00075       @param conf  for giving the wished configuration of DerivativeWiring
    00076       via \ref __DerivativeWiringConf "DerivativeWiringConf"
    00077       @param noise NoiseGenerator that is used for adding noise to sensor values
    00078   */
    00079   DerivativeWiring(const DerivativeWiringConf& conf,
    00080                    NoiseGenerator* noise);
    00081
    00082   /** destructor
    00083    */
    00084   virtual ~DerivativeWiring();
    00085
    00086   /** initializes the internal numbers of sensors and motors on robot side, calculate
    00087       number of sensors and motors on controller side
    00088   */
    00089   virtual bool init(int robotsensornumber, int robotmotornumber);
    00090
    00091   /** Realizes derivative wiring from robot sensors to controller sensors.
    00092       @param rsensors pointer to array of sensorvalues from robot
    00093       @param rsensornumber number of sensors from robot
    00094       @param csensors pointer to array of sensorvalues for controller
    00095       @param csensornumber number of sensors to controller
    00096       @param noise size of the noise added to the sensors
    00097   */
    00098   virtual bool wireSensors(const sensor* rsensors, int rsensornumber,
    00099                            sensor* csensors, int csensornumber,
    00100                            double noise);
    00101
    00102   /** Realizes wiring from controller motor outputs to robot motors.
    00103       @param rmotors pointer to array of motorvalues for robot
    00104       @param rmotornumber number of robot motors
    00105       @param cmotors pointer to array of motorvalues from controller
    00106       @param cmotornumber number of motorvalues from controller
    00107   */
    00108   virtual bool wireMotors(motor* rmotors, int rmotornumber,
    00109                           const motor* cmotors, int cmotornumber);
    00110
    00111   /** Providing default configuration for DerivativeWiring as static method
    00112    */
    00113   static DerivativeWiringConf getDefaultConf(){
    00114     DerivativeWiringConf c;
    00115     c.useId = true;        // use id
    00116     c.useFirstD = false;   // do not use first derivative
    00117     c.useSecondD = false;  // do not use secound derivative
    00118     c.eps = 0.05;
    00119     c.derivativeScale=3;
    00120     c.blindMotorSets=0;    // no blind motors used
    00121     return c;
    00122   };
    00123
    00124 protected:
    00125   /** Calculate the first derivative of the sensorvalues given by the robot
    00126    *  f'(x) = (f(x+1) - f(x-1)) / 2
    00127    *  since we do not have f(x+1) we go one timestep in the past
    00128    */
    00129   void calcFirstDerivative();
    00130
    00131   /** Calculate the secound derivative of the sensorvalues given by the robot
    00132    *  f'(x) = f(x) - 2f(x-1) + f(x-2)
    00133    */
    00134   void calcSecondDerivative();
    00135
    00136   /// used configuration
    00137   DerivativeWiringConf conf;
    00138   static const int buffersize=40;
    00139   int time;
    00140   /// number timesteps the sensor values are delayed for calculation of the derivative
    00141   int delay;
    00142
    00143
    00144   /// current and old smoothed sensor values of robot
    00145   sensor* sensorbuffer[buffersize];
    00146
    00147   /// current sensors (with noise)
    00148   sensor* id;
    00149
    00150   /// current first derivative
    00151   sensor* first;
    00152
    00153   /// current second derivative
    00154   sensor* second;
    00155
    00156   /// array that stored the values of the blind motors
    00157   motor *blindMotors;
    00158
    00159   /// number of blind motors used
    00160   unsigned int blindMotorNumber;
    00161 };
    00162
    00163 #endif