AbstractController Class Reference

Abstract class (interface) for robot controller. More...

#include <abstractcontroller.h>

Inherits Configurable, Inspectable, and Storeable.

Inherited by InvertController, InvertMotorController, and SineController.

Inheritance diagram for AbstractController:

[legend]Collaboration diagram for AbstractController:

[legend]List of all members.

Public Member Functions
	AbstractController (const std::string &name, const std::string &revision)
	contructor (hint: use $ID$ for revision)
virtual void	init (int sensornumber, int motornumber) ABSTRACT
	initialisation of the controller with the given sensor/ motornumber Must be called before use.
virtual int	getSensorNumber () const ABSTRACT
virtual int	getMotorNumber () const ABSTRACT
virtual void	step (const sensor *sensors, int sensornumber, motor *motors, int motornumber) ABSTRACT
	performs one step (includes learning).
virtual void	stepNoLearning (const sensor *, int number_sensors, motor *, int number_motors) ABSTRACT
	performs one step without learning.

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Detailed Description

Abstract class (interface) for robot controller.

The controller gets a number of input sensor values each timestep and has to generate a number of output motor values.

Interface assumes the following usage:

• init() is called first to initialise the dimension of sensor- and motor space
• each time step either step() or stepNoLearning() is called to ask the controller for motor values.

Examples:

directconnect/directconnect.cpp, integration/main.cpp, and main.cpp.

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Constructor & Destructor Documentation

AbstractController	(	const std::string &	name,
		const std::string &	revision
	)			[inline]

contructor (hint: use $ID$ for revision)

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Member Function Documentation

virtual int getMotorNumber

(

)

const [virtual]

Returns:

Number of motors the controller was initialised with or 0 if not initialised

Reimplemented in InvertMotorNStep, InvertMotorSpace, InvertNChannelController, and SineController.

virtual int getSensorNumber

(

)

const [virtual]

Returns:

Number of sensors the controller was initialised with or 0 if not initialised

Reimplemented in InvertMotorNStep, InvertMotorSpace, InvertNChannelController, and SineController.

virtual void init	(	int	sensornumber,
		int	motornumber
	)			[virtual]

initialisation of the controller with the given sensor/ motornumber Must be called before use.

Reimplemented in DInvert3ChannelController, InvertMotorNStep, InvertMotorSpace, InvertNChannelController, and SineController.

Examples:

directconnect/directconnect.cpp.

virtual void step	(	const sensor *	sensors,
		int	sensornumber,
		motor *	motors,
		int	motornumber
	)			[virtual]

performs one step (includes learning).

Calculates motor commands from sensor inputs.

Parameters:

	sensors	sensors inputs scaled to [-1,1]
	sensornumber	length of the sensor array
	motors	motors outputs. MUST have enough space for motor values!
	motornumber	length of the provided motor array

Reimplemented in DInvert3ChannelController, Invert3ChannelController, InvertMotorNStep, InvertMotorSpace, InvertNChannelController, and SineController.

Examples:

directconnect/directconnect.cpp.

virtual void stepNoLearning	(	const sensor *	,
		int	number_sensors,
		motor *	,
		int	number_motors
	)			[virtual]

performs one step without learning.

See also:

step

Reimplemented in DInvert3ChannelController, Invert3ChannelController, InvertMotorNStep, InvertMotorSpace, InvertNChannelController, and SineController.

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The documentation for this class was generated from the following file:

• abstractcontroller.h

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