dinvert3channelcontroller.hpp File Reference

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Functions
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)
	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)
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)

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Function Documentation

double** allocateMatrix	(	int	m,
		int	n
	)

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

calculate controller ouptus

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

calculate delayed values

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

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

DInvert3ChannelController	(	int	numberchannels,
		int	buffersize
	)

void freeMatrix	(	double **	mat,
		int	m
	)

virtual int getInternalParamNames

(

paramkey *&

keylist

)

[virtual]

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

virtual constparamkey getName

(

)

const [virtual]

return the name of the object (with version number)

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

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

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

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

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

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

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

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

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

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