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/***************************************************************************
* Copyright (C) 2005-2011 LpzRobots development team *
* Georg Martius <georg dot martius at web dot de> *
* Frank Guettler <guettler at informatik dot uni-leipzig dot de *
* Frank Hesse <frank at nld dot ds dot mpg dot de> *
* Ralf Der <ralfder at mis dot mpg dot de> *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
* along with this program; if not, write to the *
* Free Software Foundation, Inc., *
* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
* *
***************************************************************************/
#include "copywiring.h"
#include <assert.h>
#include <cstring>
#include <selforg/matrix.h>
#include <cmath>
#include <selforg/controller_misc.h>
using namespace matrix;
/// constructor
CopyWiring::CopyWiring(const Assignment& sensor_assignment,
const Assignment& motor_assignment,
NoiseGenerator* noise, int plotMode, const std::string& name)
: AbstractWiring(noise, plotMode, name),
s_assign(sensor_assignment),m_assign(motor_assignment){
}
CopyWiring::~CopyWiring(){
}
/// returns the inverse Assignment of the given sensor assignemnt (typically the right thing)
CopyWiring::Assignment CopyWiring::motorFromSensorAssignment(const Assignment& sensor_assignment){
Assignment ma;
FOREACHCI(Assignment, sensor_assignment, sa, k){
FOREACHC(std::list<int>, *sa, s){
if((signed)ma.size()<=*s) ma.resize(*s+1);
ma[*s].push_back(k);
}
}
return ma;
}
bool CopyWiring::initIntern(){
csensornumber = s_assign.size();
//maximal motor index
int maxidx=0;
FOREACHC(Assignment, m_assign, ma) {
FOREACHC(std::list<int>, *ma, m) {
maxidx = max(maxidx,*m);
}
}
cmotornumber = maxidx+1;
assert((signed int)m_assign.size() <= rmotornumber);
noisenumber = csensornumber;
return true;
}
bool CopyWiring::wireSensorsIntern(const sensor* rsensors, int rsensornumber,
sensor* csensors, int csensornumber,
double noiseStrength){
assert(rsensornumber == this->rsensornumber);
assert(csensornumber == this->csensornumber);
FOREACHCI(Assignment, s_assign, sa, k) {
csensors[k]=0;
FOREACHC(std::list<int>, *sa, s) {
if ( *s < 0 || *s >= rsensornumber ) {
fprintf(stderr, "access to sensor out of range: %i", *s);
} else {
csensors[k]+= rsensors[*s];
}
}
csensors[k]/=max(1.0, (double)sa->size());
}
// the noisevals are set in abstractwiring
for(int i=0; i< csensornumber; i++){
csensors[i] += noisevals[i];
}
return true;
}
bool CopyWiring::wireMotorsIntern(motor* rmotors, int rmotornumber,
const motor* cmotors, int cmotornumber){
assert(rmotornumber == this->rmotornumber);
assert(cmotornumber == this->cmotornumber);
FOREACHCI(Assignment, m_assign, ma, k) {
rmotors[k]=0;
FOREACHC(std::list<int>, *ma, m) {
if ( *m < 0 || *m >= cmotornumber ) {
fprintf(stderr, "access to motor value (controller) out of range: %i", *m);
} else {
rmotors[k]+= cmotors[*m];
}
}
rmotors[k]/=max(1.0, (double)ma->size());
}
return true;
}
void CopyWiring::reset(){
}