JSONGoalControl.h

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/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
 * under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0.
 * 
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
 * either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
*/

#ifndef JSON_GOAL_CONTROL_H
#define JSON_GOAL_CONTROL_H

#include "dev/btietz/JSONTests/JSONCPGControl.h"

#include <json/value.h>

// Forward Declarations
class neuralNetwork;
class tgSpringCableActuator;
class BaseSpineModelGoal;
class tgSCASineControl;

class JSONGoalControl : public JSONCPGControl
{
public:

struct Config : public JSONCPGControl::Config
    {
    public:
        Config( int ss,
        int tm,
        int om,
        int param,
        int segnum = 6,
        double ct = 0.1,
        double la = 0,
        double ha = 30,
        double lp = -1 * M_PI,
        double hp = M_PI,
        double kt = 0.0,
        double kp = 1000.0,
        double kv = 100.0,
        bool def = true,
        double cl = 10.0,
        double lf = 0.0,
        double hf = 30.0,
        double ffMin = 0.0,
        double ffMax = 0.0,
        double afMin = 0.0,
        double afMax = 0.0,
        double pfMin = 0.0,
        double pfMax = 0.0,
        double tf = 0.0
        );
        
        const double freqFeedbackMin;
        const double freqFeedbackMax;
        const double ampFeedbackMin;
        const double ampFeedbackMax;
        const double phaseFeedbackMin;
        const double phaseFeedbackMax;
        
        const double tensFeedback;
        
        // Values to be filled in by JSON file during onSetup
        int numStates;
        int numActions;
        int numHidden;
        
        // Values to be filled in by JSON file during onSetup - goal sets
        int goalStates;
        int goalActions;
        int goalHidden;
        
    };

    JSONGoalControl(JSONGoalControl::Config config,             
                                                                                                                std::string args,
                                                                                                                std::string resourcePath = "");
    
    virtual ~JSONGoalControl();
    
    virtual void onSetup(BaseSpineModelLearning& subject);
    
    virtual void onStep(BaseSpineModelLearning& subject, double dt);
    
    virtual void onTeardown(BaseSpineModelLearning& subject);
                
protected:

    virtual void setupCPGs(BaseSpineModelLearning& subject, array_2D nodeActions, array_4D edgeActions);
    
    virtual array_2D scaleNodeActions (Json::Value actions);

    std::vector<double> getGoalFeedback(const BaseSpineModelGoal* subject);
    
    virtual std::vector<double> getFeedback(BaseSpineModelLearning& subject);
    
    std::vector<double> getCableState(const tgSpringCableActuator& cable);
    
    // Changes scale of actions from [0, 1] to [-1, 1]
    void transformFeedbackActions(std::vector<double>& actions);
    
    double calculateDistanceMoved(const BaseSpineModelGoal* subject) const;
    
    JSONGoalControl::Config m_config;
    
    neuralNetwork* nn;
    neuralNetwork* nn_goal;
    
    
};

#endif // SPINE_FEEDBACK_CONTROL_H