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LearningSpineSine.h
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1 /*
2  * Copyright © 2012, United States Government, as represented by the
3  * Administrator of the National Aeronautics and Space Administration.
4  * All rights reserved.
5  *
6  * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
7  * under the Apache License, Version 2.0 (the "License");
8  * you may not use this file except in compliance with the License.
9  * You may obtain a copy of the License at
10  * http://www.apache.org/licenses/LICENSE-2.0.
11  *
12  * Unless required by applicable law or agreed to in writing,
13  * software distributed under the License is distributed on an
14  * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
15  * either express or implied. See the License for the specific language
16  * governing permissions and limitations under the License.
17 */
18 
19 #ifndef LEARNING_SPINE_SINE_H
20 #define LEARNING_SPINE_SINE_H
21 
32 
34 
40 {
41 public:
42 
44  std::string args,
45  std::string ec = "edgeConfig.ini",
46  std::string nc = "nodeConfig.ini");
47 
48  ~LearningSpineSine() {}
49 
50  virtual void onSetup(BaseSpineModelLearning& subject);
51 
52  virtual void onStep(BaseSpineModelLearning& subject, double dt);
53 
54  virtual void onTeardown(BaseSpineModelLearning& subject);
55 
56 protected:
57 
58  virtual void setupWaves(BaseSpineModelLearning& subject, array_2D nodeActions, array_2D edgeActions);
59 
65  virtual array_2D scalePhaseActions (std::vector< std::vector <double> > actions);
66  virtual array_2D scaleNodeActions (std::vector< std::vector <double> > actions);
67 
68  std::vector<tgSineStringControl*> m_sineControllers;
69 };
70 
71 #endif // FLEMONS_SPINE_CPG_CONTROL_H
virtual void onSetup(BaseSpineModelLearning &subject)
virtual void onTeardown(BaseSpineModelLearning &subject)
A controller for the template class BaseSpineModelLearning.
virtual array_2D scalePhaseActions(std::vector< std::vector< double > > actions)
virtual void onStep(BaseSpineModelLearning &subject, double dt)
LearningSpineSine(BaseSpineCPGControl::Config config, std::string args, std::string ec="edgeConfig.ini", std::string nc="nodeConfig.ini")