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# abstractwiring.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: abstractwiring.h,v $
    00023  *   Revision 1.3  2006/07/20 17:14:36  martius
    00024  *   removed std namespace from matrix.h
    00025  *   storable interface
    00026  *   abstract model and invertablemodel as superclasses for networks
    00027  *
    00028  *   Revision 1.2  2006/07/14 12:24:02  martius
    00029  *   selforg becomes HEAD
    00030  *
    00031  *   Revision 1.1.2.1  2005/11/16 11:24:27  martius
    00032  *   moved to selforg
    00033  *
    00034  *   Revision 1.8  2005/11/09 13:55:44  martius
    00035  *   *** empty log message ***
    00036  *
    00037  *   Revision 1.7  2005/10/24 09:52:36  fhesse
    00038  *   comments in doxygen
    00039  *
    00040  *   Revision 1.6  2005/10/06 17:11:36  martius
    00041  *   switched to stl lists
    00042  *
    00043  *   Revision 1.5  2005/08/03 20:34:58  martius
    00044  *   use if Inspectable interface
    00045  *
    00046  *   Revision 1.4  2005/07/21 15:14:47  martius
    00047  *   wireSensors and wireMotors get constant fields
    00048  *
    00049  *   Revision 1.3  2005/07/18 14:44:27  martius
    00050  *   noise moved into wiring
    00051  *
    00052  *   Revision 1.2  2005/07/18 10:14:45  martius
    00053  *   noise is added here
    00054  *
    00055  *   Revision 1.1  2005/07/14 15:57:53  fhesse
    00056  *   now agent contains controller, robot and wiring, plotting ability included, therefore plotagent can be removed; ono2onewiring replaces one2oneagent
    00057  *                                            *
    00058  *                                                                         *
    00059  ***************************************************************************/
    00060 #ifndef __ABSTRACTWIRING_H
    00061 #define __ABSTRACTWIRING_H
    00062
    00063 #include "abstractrobot.h"
    00064 #include "noisegenerator.h"
    00065 #include "inspectable.h"
    00066
    00067 /** Abstract wiring-object between controller and robot.
    00068  *  Implements wiring of robot sensors to inputs of the controller and
    00069  *  controller outputs to robot motors.
    00070  */
    00071 class AbstractWiring : public Inspectable {
    00072 public:
    00073   /** constructor
    00074    *  @param noise NoiseGenerator that is used for adding noise to sensor values
    00075    */
    00076   AbstractWiring(NoiseGenerator* noise){
    00077     rsensornumber = 0;
    00078     rmotornumber  = 0;
    00079     csensornumber = 0;
    00080     cmotornumber  = 0;
    00081     noiseGenerator = noise;
    00082   }
    00083
    00084   /** destructor
    00085    */
    00086   virtual ~AbstractWiring(){
    00087     if(noiseGenerator) delete noiseGenerator;
    00088   }
    00089
    00090   /** Initializes the  number of sensors and motors from robot
    00091    *  (to be precise the internal parameters rsensornumber and rmotornumber!),
    00092    *  calculates the number of sensors and motors on controller side.
    00093    *  Must be overloaded to calculate and provide the appropriate numbers
    00094    *  controllersensornumber (csensornumber), controllermotornumber (cmotornumber),
    00095    *  robotsensornumber (rsensornumber) and robotmotornumber (rmotornumber),
    00096    *  @return returns false if error, else true
    00097    */
    00098   virtual bool init(int robotsensornumber, int robotmotornumber) = 0;
    00099
    00100   /** Realizes wiring from robot sensors to controller sensors.
    00101    *   Must be overloaded in order to implement the appropriate mapping.
    00102    *   @param rsensors pointer to array of sensorvalues from robot
    00103    *   @param rsensornumber number of sensors from robot
    00104    *   @param csensors pointer to array of sensorvalues for controller
    00105    *   @param csensornumber number of sensors to controller
    00106    *   @param noise size of the noise added to the sensors
    00107    *   @return returns false if error, else true
    00108    */
    00109   virtual bool wireSensors(const sensor* rsensors, int rsensornumber,
    00110                            sensor* csensors, int csensornumber,
    00111                            double noise) = 0;
    00112
    00113   /** Realizes wiring from controller motor outputs to robot motors.
    00114    *   Must be overloaded in order to implement the appropriate mapping.
    00115    *   @param rmotors pointer to array of motorvalues for robot
    00116    *   @param rmotornumber number of robot motors
    00117    *   @param cmotors pointer to array of motorvalues from controller
    00118    *   @param cmotornumber number of motorvalues from controller
    00119    *   @return returns false if error, else true
    00120    */
    00121   virtual bool wireMotors(motor* rmotors, int rmotornumber,
    00122                           const motor* cmotors, int cmotornumber)  = 0;
    00123
    00124
    00125
    00126   /** Returns the number of sensors on robot side.
    00127    */
    00128   virtual int getRobotSensornumber(){return rsensornumber;}
    00129
    00130   /** Returns the number of motors on robot side.
    00131    */
    00132   virtual int getRobotMotornumber() {return rmotornumber;}
    00133
    00134   /** Returns the number of sensors on controller side.
    00135    */
    00136   virtual int getControllerSensornumber(){return csensornumber;}
    00137
    00138   /** Returns the number of motors on controller side.
    00139    */
    00140   virtual int getControllerMotornumber() {return cmotornumber;}
    00141
    00142   /** Returns the list of the names of all internal parameters.
    00143    */
    00144   virtual std::list<iparamkey> getInternalParamNames() const { return std::list<iparamkey>(); };
    00145
    00146   /** Returns a list of the values of all internal parameters
    00147       (in the order given by getInternalParamNames()).
    00148    */
    00149   virtual std::list<iparamval>  getInternalParams() const { return std::list<iparamval>(); };
    00150
    00151
    00152 protected:
    00153   /// number of sensors at robot side
    00154   int rsensornumber;
    00155
    00156   /// number of motors at robot side
    00157   int rmotornumber;
    00158
    00159   /// number of sensors at controller side
    00160   int csensornumber;
    00161
    00162   /// number of motors at controller side
    00163   int cmotornumber;
    00164
    00165   NoiseGenerator* noiseGenerator;
    00166
    00167 };
    00168
    00169 #endif