#include <JSONAchillesHierarchyControl.h>

Inheritance diagram for JSONAchillesHierarchyControl:

Collaboration diagram for JSONAchillesHierarchyControl:

Classes
struct	Config

Public Member Functions
	JSONAchillesHierarchyControl (JSONAchillesHierarchyControl::Config config, std::string args, std::string resourcePath="")

virtual void	onSetup (BaseQuadModelLearning &subject)

virtual void	onStep (BaseQuadModelLearning &subject, double dt)

virtual void	onTeardown (BaseQuadModelLearning &subject)

const double	getCPGValue (std::size_t i) const

double	getScore () const

virtual void	onAttach (BaseQuadModelLearning &subject)

void	attach (tgObserver< JSONQuadCPGControl > *pObserver)

void	notifyStep (double dt)

void	notifySetup ()

void	notifyTeardown ()

Protected Member Functions
virtual void	setupCPGs (BaseQuadModelLearning &subject, array_2D spineNodeActions, array_2D legNodeActions, array_4D spineEdgeActions, array_4D hipEdgeActions, array_4D legEdgeActions, array_4D achillesEdgeActions)

virtual void	setupHighCPGs (BaseQuadModelLearning &subject, array_2D highNodeActions, array_4D highEdgeActions)

virtual void	setupHighLowCouplings (BaseQuadModelLearning &subject, Json::Value highLowEdgeActions)

virtual array_2D	scaleNodeActions (Json::Value actions, double highFreq, double freqFeedbackMax)

virtual array_4D	scaleEdgeActions (Json::Value actions, int segmentSpan, int theirMuscles, int ourMuscles)

std::vector< double >	getFeedback (BaseQuadModelLearning &subject)

std::vector< double >	getCableState (const tgSpringCableActuator &cable)

std::vector< double >	transformFeedbackActions (std::vector< std::vector< double > > &actions)

virtual array_4D	scaleEdgeActions (Json::Value edgeParam)

virtual array_2D	scaleNodeActions (Json::Value actions)

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

Protected Attributes
JSONAchillesHierarchyControl::Config	m_config

std::vector < tgCPGActuatorControl * >	m_spineControllers

std::vector < tgCPGActuatorControl * >	m_leftShoulderControllers

std::vector < tgCPGActuatorControl * >	m_rightShoulderControllers

std::vector < tgCPGActuatorControl * >	m_leftHipControllers

std::vector < tgCPGActuatorControl * >	m_rightHipControllers

std::vector < tgCPGActuatorControl * >	m_leftForelegControllers

std::vector < tgCPGActuatorControl * >	m_rightForelegControllers

std::vector < tgCPGActuatorControl * >	m_leftHindlegControllers

std::vector < tgCPGActuatorControl * >	m_rightHindlegControllers

std::vector < tgCPGActuatorControl * >	m_leftFrontAchillesControllers

std::vector < tgCPGActuatorControl * >	m_rightFrontAchillesControllers

std::vector < tgCPGActuatorControl * >	m_leftRearAchillesControllers

std::vector < tgCPGActuatorControl * >	m_rightRearAchillesControllers

std::vector < tgCPGActuatorControl * >	m_highControllers

neuralNetwork *	nn

std::vector< std::vector < double > >	m_quadCOM

CPGEquations *	m_pCPGSys

std::vector < tgCPGActuatorControl * >	m_allControllers

std::vector< double >	initConditions

std::size_t	segments

tgDataObserver	m_dataObserver

double	m_updateTime

double	m_totalTime

std::vector< double >	scores

std::vector< double >	metrics

bool	bogus

std::string	controlFilename

std::string	controlFilePath

Detailed Description

JSONMetricsFeedbackControl 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 48 of file JSONAchillesHierarchyControl.h.

Constructor & Destructor Documentation

JSONAchillesHierarchyControl::JSONAchillesHierarchyControl	(	JSONAchillesHierarchyControl::Config	config,
		std::string	args,
		std::string	resourcePath = `""`
	)

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 126 of file JSONAchillesHierarchyControl.cpp.

Member Function Documentation

void tgSubject< JSONQuadCPGControl >::attach ( tgObserver< JSONQuadCPGControl > * pObserver )

inherited

Attach an observer to the subject of the observer.

Parameters

[in,out] pObserver a pointer to an observer for the subject; do nothing if the pointer is NULL

void tgSubject< JSONQuadCPGControl >::notifySetup ( )

inherited

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

void tgSubject< JSONQuadCPGControl >::notifyStep ( double dt )

inherited

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

Parameters

[in] dt the number of seconds since the previous call; do nothing if not positive

void tgSubject< JSONQuadCPGControl >::notifyTeardown ( )

inherited

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

virtual void tgObserver< BaseQuadModelLearning >::onAttach ( BaseQuadModelLearning & 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 55 of file tgObserver.h.

void JSONAchillesHierarchyControl::onSetup ( BaseQuadModelLearning & subject )

virtual

Notify the observers when a setup action has occurred.

Parameters

[in,out] subject the subject being observed

Reimplemented from JSONQuadCPGControl.

Definition at line 141 of file JSONAchillesHierarchyControl.cpp.

Here is the call graph for this function:

void JSONAchillesHierarchyControl::onStep	(	BaseQuadModelLearning &	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

Max and min heights added to config

Todo:: if bogus, stop trial (reset simulation)

Todo:: add to config

Todo:: if bogus, stop trial (reset simulation)

Reimplemented from JSONQuadCPGControl.

Definition at line 267 of file JSONAchillesHierarchyControl.cpp.

void JSONAchillesHierarchyControl::onTeardown ( BaseQuadModelLearning & 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

Todo:

consolidate with other controller classes.

Todo:

return length scale as a parameter

Reimplemented from JSONQuadCPGControl.

Definition at line 313 of file JSONAchillesHierarchyControl.cpp.

Here is the call graph for this function:

array_4D JSONQuadCPGControl::scaleEdgeActions ( Json::Value edgeParam )

protectedvirtualinherited

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