DInvert3ChannelController Class Reference

class for robot controller that use naglaa's direct matrix inversion for n channels (simple one layer networks) More...

#include <dinvert3channelcontroller.h>

Inherits InvertController.

Inheritance diagram for DInvert3ChannelController:

[legend]Collaboration diagram for DInvert3ChannelController:

[legend]List of all members.

Public Member Functions
virtual double	g (double z)
	neuron transfer function
virtual double	g_s (double z)
virtual double	squash (double z)
	squashing function, to protect against to large weight updates
double **	allocateMatrix (int m, int n)
void	freeMatrix (double **mat, int m)
virtual constparamkey	getName () const
	return the name of the object (with version number)
virtual void	init (int sensornumber, int motornumber)
	initialisation of the controller with the given sensor/ motornumber Must be called before use.
	DInvert3ChannelController (int numberchannels, int buffersize)
virtual void	step (const sensor *x_, int sensornumber, motor *y_, int motornumber)
	performs one step (includes learning). Calulates motor commands from sensor inputs.
virtual void	stepNoLearning (const sensor *x_, int sensornumber, motor *y_, int motornumber)
	performs one step without learning. Calulates motor commands from sensor inputs.
virtual int	getInternalParamNames (paramkey *&keylist)
virtual int	getInternalParams (paramval *vallist, int length)
Public Attributes
double **	A
	model matrix
double **	C
	controller matrix
double *	h
	bias vector
double **	x_buffer
	buffer for input values, x[tbuffersize]=actual value, x[(t-1+buffersize)buffersize]=x(t-1)
double **	y_buffer
	buffer for output values, y[tbuffersize]=actual value(if already calculated!), y[(t-1+buffersize)buffersize]=y(t-1)
double *	xsi4E
double *	xsi4Model
int	t
	number of steps, needed for ringbuffer x_buffer
char	name [50]
Protected Member Functions
virtual void	inverseMatrix (double **Q, double **Q_1)
virtual double	calculateE (const double *x_, const double *x_delay, const double *y_delay)
virtual void	learn (const double *x_, const double *x_delay, const double *y_delay)
virtual void	learnModel (const double *x_actual, double *y_effective)
virtual void	calculateDelayedValues (double **source, paramval number_steps_of_delay_, double *target)
	calculate delayed values
virtual void	calculateSmoothValues (double **source, paramval number_steps_for_averaging_, double *target)
virtual void	calculateControllerValues (double *x_smooth, double *y)
	calculate controller ouptus
virtual void	putInBuffer (double **buffer, const double *values)
Protected Attributes
int	NUMBER_CHANNELS
int	BUFFER_SIZE
double *	x_smooth
double *	x_effective
double *	y_effective
double **	Q_buf1
double **	Q_buf2
double **	L
double *	z

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Detailed Description

class for robot controller that use naglaa's direct matrix inversion for n channels (simple one layer networks)

Implements standart parameters: eps, rho, mu, stepnumber4avg, stepnumber4delay

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Constructor & Destructor Documentation

DInvert3ChannelController	(	int	numberchannels,
		int	buffersize
	)			[inline]

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Member Function Documentation

double** allocateMatrix	(	int	m,
		int	n
	)			[inline]

virtual void calculateControllerValues	(	double *	x_smooth,
		double *	y
	)			[inline, protected, virtual]

calculate controller ouptus

virtual void calculateDelayedValues	(	double **	source,
		paramval	number_steps_of_delay_,
		double *	target
	)			[inline, protected, virtual]

calculate delayed values

virtual double calculateE	(	const double *	x_,
		const double *	x_delay,
		const double *	y_delay
	)			[inline, protected, virtual]

virtual void calculateSmoothValues	(	double **	source,
		paramval	number_steps_for_averaging_,
		double *	target
	)			[inline, protected, virtual]

void freeMatrix	(	double **	mat,
		int	m
	)			[inline]

virtual double g

(

double

z

)

[inline, virtual]

neuron transfer function

virtual double g_s

(

double

z

)

[inline, virtual]

virtual int getInternalParamNames

(

paramkey *&

keylist

)

[inline, virtual]

virtual int getInternalParams	(	paramval *	vallist,
		int	length
	)			[inline, virtual]

virtual constparamkey getName

(

)

const [inline, virtual]

return the name of the object (with version number)

Reimplemented from Configurable.

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

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

Reimplemented from AbstractController.

virtual void inverseMatrix	(	double **	Q,
		double **	Q_1
	)			[inline, protected, virtual]

virtual void learn	(	const double *	x_,
		const double *	x_delay,
		const double *	y_delay
	)			[inline, protected, virtual]

virtual void learnModel	(	const double *	x_actual,
		double *	y_effective
	)			[inline, protected, virtual]

virtual void putInBuffer	(	double **	buffer,
		const double *	values
	)			[inline, protected, virtual]

virtual double squash

(

double

z

)

[inline, virtual]

squashing function, to protect against to large weight updates

virtual void step	(	const sensor *	x_,
		int	sensornumber,
		motor *	y_,
		int	motornumber
	)			[inline, virtual]

performs one step (includes learning). Calulates motor commands from sensor inputs.

Reimplemented from AbstractController.

virtual void stepNoLearning	(	const sensor *	x_,
		int	sensornumber,
		motor *	y_,
		int	motornumber
	)			[inline, virtual]

performs one step without learning. Calulates motor commands from sensor inputs.

Reimplemented from AbstractController.

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Member Data Documentation

double** A

model matrix

int BUFFER_SIZE [protected]

double** C

controller matrix

double* h

bias vector

double** L [protected]

char name[50]

Reimplemented from Configurable.

int NUMBER_CHANNELS [protected]

double** Q_buf1 [protected]

double** Q_buf2 [protected]

int t

number of steps, needed for ringbuffer x_buffer

double** x_buffer

buffer for input values, x[tbuffersize]=actual value, x[(t-1+buffersize)buffersize]=x(t-1)

double* x_effective [protected]

double* x_smooth [protected]

double* xsi4E

double* xsi4Model

double** y_buffer

buffer for output values, y[tbuffersize]=actual value(if already calculated!), y[(t-1+buffersize)buffersize]=y(t-1)

double* y_effective [protected]

double* z [protected]

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

• dinvert3channelcontroller.h

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