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BaseSpineCPGControl Class Reference

#include <BaseSpineCPGControl.h>

Inherits tgObserver< BaseSpineModelLearning >, and tgSubject< BaseSpineCPGControl >.

Inherited by KinematicSpineCPGControl, LearningSpineJSON, LearningSpineSine, OctaCLSine, SpineFeedbackControl, and TetraSpineCPGControl.

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Classes

struct  Config
 

Public Member Functions

 BaseSpineCPGControl (BaseSpineCPGControl::Config config, std::string args, std::string resourcePath="", 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)
 
const double getCPGValue (std::size_t i) const
 
double getScore () const
 
virtual void onAttach (BaseSpineModelLearning &subject)
 
void attach (tgObserver< BaseSpineCPGControl > *pObserver)
 
void notifyStep (double dt)
 
void notifySetup ()
 
void notifyTeardown ()
 

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

CPGEquationsm_pCPGSys
 
std::vector
< tgCPGActuatorControl * > 
m_allControllers
 
BaseSpineCPGControl::Config m_config
 
std::string edgeConfigFilename
 
std::string nodeConfigFilename
 
configuration nodeConfigData
 
configuration edgeConfigData
 
AnnealEvolution edgeEvolution
 
AnnealEvolution nodeEvolution
 
AnnealAdapter edgeAdapter
 
AnnealAdapter nodeAdapter
 
bool nodeLearning
 
bool edgeLearning
 
std::vector< double > initConditions
 
std::size_t segments
 
tgDataObserver m_dataObserver
 
double m_updateTime
 
std::vector< double > scores
 
bool bogus
 

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. tgImpedanceController 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 61 of file BaseSpineCPGControl.h.

Constructor & Destructor Documentation

BaseSpineCPGControl::BaseSpineCPGControl ( BaseSpineCPGControl::Config  config,
std::string  args,
std::string  resourcePath = "",
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 133 of file BaseSpineCPGControl.cpp.

Member Function Documentation

void tgSubject< BaseSpineCPGControl >::attach ( tgObserver< BaseSpineCPGControl > *  pObserver)
inherited

Attach an observer to the subject of the observer.

Parameters
[in,out]pObservera pointer to an observer for the subject; do nothing if the pointer is NULL
void tgSubject< BaseSpineCPGControl >::notifySetup ( )
inherited

Call tgObserver<T>::onSetup() on all observers in the order in which they were attached.

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void tgSubject< BaseSpineCPGControl >::notifyStep ( double  dt)
inherited

Call tgObserver<T>::onStep() on all observers in the order in which they were attached.

Parameters
[in]dtthe number of seconds since the previous call; do nothing if not positive
void tgSubject< BaseSpineCPGControl >::notifyTeardown ( )
inherited

Call tgObserver<T>::onTeardown() on all observers in the order in which they were attached.

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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]subjectthe subject being observed

Definition at line 55 of file tgObserver.h.

void BaseSpineCPGControl::onSetup ( BaseSpineModelLearning subject)
virtual

Notify the observers when a setup action has occurred.

Parameters
[in,out]subjectthe subject being observed

Reimplemented from tgObserver< BaseSpineModelLearning >.

Reimplemented in SpineFeedbackControl, OctaCLSine, and LearningSpineSine.

Definition at line 175 of file BaseSpineCPGControl.cpp.

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

Notify the observers when a step action has occurred.

Parameters
[in,out]subjectthe subject being observed
[in]thenumber of seconds since the previous call; must be positive
Todo:
add to config
Todo:
if bogus, stop trial (reset simulation)

Implements tgObserver< BaseSpineModelLearning >.

Reimplemented in SpineFeedbackControl, OctaCLSine, and LearningSpineSine.

Definition at line 253 of file BaseSpineCPGControl.cpp.

void BaseSpineCPGControl::onTeardown ( BaseSpineModelLearning subject)
virtual

Notify the observers when a teardown action has occurred.

Parameters
[in,out]subjectthe subject being observed
Todo:
  • consolidate with other controller classes.
Todo:
  • return length scale as a parameter

Reimplemented from tgObserver< BaseSpineModelLearning >.

Reimplemented in SpineFeedbackControl, OctaCLSine, and LearningSpineSine.

Definition at line 281 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 364 of file BaseSpineCPGControl.cpp.

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void BaseSpineCPGControl::setupCPGs ( BaseSpineModelLearning subject,
array_2D  nodeActions,
array_4D  edgeActions 
)
protectedvirtual
Todo:
: redo with for_each

Reimplemented in KinematicSpineCPGControl, LearningSpineJSON, and TetraSpineCPGControl.

Definition at line 210 of file BaseSpineCPGControl.cpp.

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