#include <BaseSpineCPGControl.h>

Inheritance diagram for BaseSpineCPGControl:

Collaboration diagram for BaseSpineCPGControl:

Classes
struct	Config

Public Member Functions
	BaseSpineCPGControl (BaseSpineCPGControl::Config config, std::string args, std::string ec="edgeConfig.ini", std::string nc="nodeConfig.ini")

virtual void	onStep (BaseSpineModelLearning &subject, double dt)

virtual void	onSetup (BaseSpineModelLearning &subject)

virtual void	onTeardown (BaseSpineModelLearning &subject)

virtual void	onAttach (BaseSpineModelLearning &subject)

Protected Member Functions
virtual array_4D	scaleEdgeActions (std::vector< std::vector< double > > actions)

virtual array_2D	scaleNodeActions (std::vector< std::vector< double > > actions)

virtual void	setupCPGs (BaseSpineModelLearning &subject, array_2D nodeActions, array_4D edgeActions)

Protected Attributes
CPGEquations *	m_pCPGSys

std::vector< tgCPGStringControl * >	m_allControllers

Detailed Description

BaseSpineCPGControl learns the parameters for a CPG system on a spine like tensegrity structure specified as a BaseSpineModelLearning. Parameters are generated by AnnealEvolution and used in the CPGEquations family of classes. ImpedanceControl controllers are used for the detailed muscle control. Due to the number of parameters, the learned parameters are split into one config file for the nodes and another for the CPG's "edges"

Definition at line 59 of file BaseSpineCPGControl.h.

Constructor & Destructor Documentation

BaseSpineCPGControl::BaseSpineCPGControl	(	BaseSpineCPGControl::Config	config,
		std::string	args,
		std::string	ec = `"edgeConfig.ini"`,
		std::string	nc = `"nodeConfig.ini"`
	)

Defining the adapters here assumes the controller is around and attached for the lifecycle of the learning runs. I.E. that the setup and teardown functions are used for tgModel

Definition at line 124 of file BaseSpineCPGControl.cpp.

Member Function Documentation

virtual void tgObserver< BaseSpineModelLearning >::onAttach ( BaseSpineModelLearning & subject )

inlinevirtualinherited

Notify the observers when an attach action has occurred. Will only occur once, typically before setup

Parameters

[in,out] subject the subject being observed

Definition at line 54 of file tgObserver.h.

void BaseSpineCPGControl::onSetup ( BaseSpineModelLearning & subject )

virtual

Notify the observers when a setup action has occurred.

Parameters

[in,out] subject the subject being observed

Reimplemented from tgObserver< BaseSpineModelLearning >.

Definition at line 148 of file BaseSpineCPGControl.cpp.

void BaseSpineCPGControl::onStep	(	BaseSpineModelLearning &	subject,
		double	dt
	)

virtual

Notify the observers when a step action has occurred.

Parameters

[in,out]	subject	the subject being observed
[in]	the	number of seconds since the previous call; must be positive

Implements tgObserver< BaseSpineModelLearning >.

Definition at line 223 of file BaseSpineCPGControl.cpp.

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void BaseSpineCPGControl::onTeardown ( BaseSpineModelLearning & subject )

virtual

Notify the observers when a teardown action has occurred.

Parameters

[in,out] subject the subject being observed

Todo:

consolidate with other controller classes.

Todo:

return length scale as a parameter

Reimplemented from tgObserver< BaseSpineModelLearning >.

Definition at line 241 of file BaseSpineCPGControl.cpp.

array_4D BaseSpineCPGControl::scaleEdgeActions ( std::vector< std::vector< double > > actions )

protectedvirtual

Takes a vector of parameters reported by learning, and then converts it into a format used to assign to the CPGEdges Note that if the CPG edges change, this will need to change

Definition at line 297 of file BaseSpineCPGControl.cpp.

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