#include <invertmotornstep.h>
Inherits InvertMotorController.
Inherited by Deprivation.
Inheritance diagram for InvertMotorNStep:
Public Member Functions | |
| InvertMotorNStep (const InvertMotorNStepConf &conf=getDefaultConf()) | |
| virtual void | init (int sensornumber, int motornumber) |
| initialisation of the controller with the given sensor/ motornumber Must be called before use. | |
| virtual | ~InvertMotorNStep () |
| virtual paramkey | getName () const |
| return the name of the object (with version number) Hint: use insertCVSInfo from Configurable | |
| virtual int | getSensorNumber () const |
| returns the number of sensors the controller was initialised with or 0 if not initialised | |
| virtual int | getMotorNumber () const |
| returns the mumber of motors the controller was initialised with or 0 if not initialised | |
| virtual void | step (const sensor *, int number_sensors, motor *, int number_motors) |
| performs one step (includes learning). | |
| virtual void | stepNoLearning (const sensor *, int number_sensors, motor *, int number_motors) |
| performs one step without learning. Calulates motor commands from sensor inputs. | |
| virtual bool | store (FILE *f) const |
| stores the controller values to a given file. | |
| virtual bool | restore (FILE *f) |
| loads the controller values from a given file. | |
| virtual std::list< iparamkey > | getInternalParamNames () const |
| The list of the names of all internal parameters given by getInternalParams(). | |
| virtual std::list< iparamval > | getInternalParams () const |
| virtual std::list< ILayer > | getStructuralLayers () const |
| Specifies which parameter vector forms a structural layer (in terms of a neural network) The ordering is important. | |
| virtual std::list< IConnection > | getStructuralConnections () const |
| Specifies which parameter matrix forms a connection between layers (in terms of a neural network) The orderning is not important. | |
| virtual void | setTeachingMode (bool onOff) |
| virtual bool | getTeachingMode () |
| virtual void | setMotorTeachingSignal (const motor *teaching, int len) |
| void | calcCandHUpdatesTeaching (matrix::Matrix &C_update, matrix::Matrix &H_update, int y_delay) |
| calculates the Update for C and H using the teaching signal | |
| void | getLastMotors (motor *motors, int len) |
Static Public Member Functions | |
| static InvertMotorNStepConf | getDefaultConf () |
Protected Member Functions | |
| virtual void | fillBuffersAndControl (const sensor *x_, int number_sensors, motor *y_, int number_motors) |
| puts the sensors in the ringbuffer, generate controller values and put them in the | |
| virtual void | calcEtaAndBufferIt (int delay) |
| calculates the first shift into the motor space useing delayed motor values. | |
| virtual void | calcXsi (int delay) |
| calculates xsi for the current time step using the delayed y values | |
| virtual void | learnController () |
| learn H,C with motors y and corresponding sensors x | |
| virtual void | calcCandHUpdates (matrix::Matrix &C_update, matrix::Matrix &H_update, int y_delay) |
| calculates the Update for C and H | |
| virtual void | updateCandH (const matrix::Matrix &C_update, const matrix::Matrix &H_update, double squashSize) |
| updates the matrix C and H | |
| virtual void | learnModel (int delay) |
| learn A, (and S) using motors y and corresponding sensors x | |
| virtual matrix::Matrix | calculateControllerValues (const matrix::Matrix &x_smooth) |
| returns controller output for given sensor values | |
Protected Attributes | |
| unsigned short | number_sensors |
| unsigned short | number_motors |
| matrix::Matrix | A |
| matrix::Matrix | S |
| matrix::Matrix | C |
| matrix::Matrix | H |
| matrix::Matrix | B |
| NoiseGenerator * | BNoiseGen |
| matrix::Matrix | R |
| matrix::Matrix | SmallID |
| matrix::Matrix | xsi |
| double | xsi_norm |
| double | xsi_norm_avg |
| double | pain |
| matrix::Matrix * | x_buffer |
| matrix::Matrix * | y_buffer |
| matrix::Matrix * | eta_buffer |
| matrix::Matrix | zero_eta |
| matrix::Matrix | x_smooth |
| matrix::Matrix | y_teaching |
| InvertMotorNStepConf | conf |
Implements standart parameters: eps, rho, mu, stepnumber4avg, stepnumber4delay
| InvertMotorNStep | ( | const InvertMotorNStepConf & | conf = getDefaultConf() |
) |
| ~InvertMotorNStep | ( | ) | [virtual] |
| void calcCandHUpdates | ( | matrix::Matrix & | C_update, | |
| matrix::Matrix & | H_update, | |||
| int | y_delay | |||
| ) | [protected, virtual] |
calculates the Update for C and H
| void calcCandHUpdatesTeaching | ( | matrix::Matrix & | C_update, | |
| matrix::Matrix & | H_update, | |||
| int | y_delay | |||
| ) |
calculates the Update for C and H using the teaching signal
| void calcEtaAndBufferIt | ( | int | delay | ) | [protected, virtual] |
calculates the first shift into the motor space useing delayed motor values.
| Matrix calculateControllerValues | ( | const matrix::Matrix & | x_smooth | ) | [protected, virtual] |
returns controller output for given sensor values
| x_smooth | smoothed sensors Matrix(number_channels,1) |
| void calcXsi | ( | int | delay | ) | [protected, virtual] |
calculates xsi for the current time step using the delayed y values
| void fillBuffersAndControl | ( | const sensor * | x_, | |
| int | number_sensors, | |||
| motor * | y_, | |||
| int | number_motors | |||
| ) | [protected, virtual] |
puts the sensors in the ringbuffer, generate controller values and put them in the
| static InvertMotorNStepConf getDefaultConf | ( | ) | [inline, static] |
| list< Inspectable::iparamkey > getInternalParamNames | ( | ) | const [virtual] |
The list of the names of all internal parameters given by getInternalParams().
The naming convention is "v[i]" for vectors and "A[i][j]" for matrices, where i, j start at 0.
Implements Inspectable.
| list< Inspectable::iparamval > getInternalParams | ( | ) | const [virtual] |
| void getLastMotors | ( | motor * | motors, | |
| int | len | |||
| ) |
| virtual int getMotorNumber | ( | ) | const [inline, virtual] |
returns the mumber of motors the controller was initialised with or 0 if not initialised
Reimplemented from AbstractController.
| virtual paramkey getName | ( | ) | const [inline, virtual] |
return the name of the object (with version number) Hint: use insertCVSInfo from Configurable
Reimplemented from Configurable.
| virtual int getSensorNumber | ( | ) | const [inline, virtual] |
returns the number of sensors the controller was initialised with or 0 if not initialised
Reimplemented from AbstractController.
| list< Inspectable::IConnection > getStructuralConnections | ( | ) | const [virtual] |
Specifies which parameter matrix forms a connection between layers (in terms of a neural network) The orderning is not important.
Reimplemented from Inspectable.
| list< Inspectable::ILayer > getStructuralLayers | ( | ) | const [virtual] |
Specifies which parameter vector forms a structural layer (in terms of a neural network) The ordering is important.
The first entry is the input layer and so on.
Reimplemented from Inspectable.
| bool getTeachingMode | ( | ) | [virtual] |
| void init | ( | int | sensornumber, | |
| int | motornumber | |||
| ) | [virtual] |
initialisation of the controller with the given sensor/ motornumber Must be called before use.
Reimplemented from AbstractController.
| void learnController | ( | ) | [protected, virtual] |
| void learnModel | ( | int | delay | ) | [protected, virtual] |
learn A, (and S) using motors y and corresponding sensors x
| bool restore | ( | FILE * | f | ) | [virtual] |
| void setMotorTeachingSignal | ( | const motor * | teaching, | |
| int | len | |||
| ) | [virtual] |
| void setTeachingMode | ( | bool | onOff | ) | [virtual] |
performs one step (includes learning).
Calulates motor commands from sensor inputs.
Reimplemented from AbstractController.
performs one step without learning. Calulates motor commands from sensor inputs.
Reimplemented from AbstractController.
| bool store | ( | FILE * | f | ) | const [virtual] |
| void updateCandH | ( | const matrix::Matrix & | C_update, | |
| const matrix::Matrix & | H_update, | |||
| double | squashSize | |||
| ) | [protected, virtual] |
updates the matrix C and H
matrix::Matrix A [protected] |
matrix::Matrix B [protected] |
NoiseGenerator* BNoiseGen [protected] |
matrix::Matrix C [protected] |
InvertMotorNStepConf conf [protected] |
matrix::Matrix* eta_buffer [protected] |
matrix::Matrix H [protected] |
unsigned short number_motors [protected] |
unsigned short number_sensors [protected] |
double pain [protected] |
matrix::Matrix R [protected] |
matrix::Matrix S [protected] |
matrix::Matrix SmallID [protected] |
matrix::Matrix* x_buffer [protected] |
matrix::Matrix x_smooth [protected] |
matrix::Matrix xsi [protected] |
double xsi_norm [protected] |
double xsi_norm_avg [protected] |
matrix::Matrix* y_buffer [protected] |
matrix::Matrix y_teaching [protected] |
matrix::Matrix zero_eta [protected] |
1.4.7