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JSONGoalControl Class Reference

#include <JSONGoalControl.h>

Inherits JSONCPGControl.

Inherited by JSONGoalTension, JSONGoalTensionNNW, and OctahedralGoalControl.

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Classes

struct  Config
 

Public Member Functions

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

Protected Member Functions

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)
 
void transformFeedbackActions (std::vector< double > &actions)
 
double calculateDistanceMoved (const BaseSpineModelGoal *subject) const
 
virtual array_4D scaleEdgeActions (Json::Value edgeParam)
 

Protected Attributes

JSONGoalControl::Config m_config
 
neuralNetwork * nn
 
neuralNetwork * nn_goal
 
CPGEquations * m_pCPGSys
 
std::vector
< tgCPGActuatorControl * > 		m_allControllers
 
std::vector< double > initConditions
 
std::size_t segments
 
tgDataObserver m_dataObserver
 
double m_updateTime
 
std::vector< double > scores
 
bool bogus
 
std::string controlFilename
 
std::string controlFilePath
 

Detailed Description

JSONGoalControl 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 JSONGoalControl.h.

Constructor & Destructor Documentation

JSONGoalControl::JSONGoalControl ( JSONGoalControl::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 101 of file JSONGoalControl.cpp.

Member Function Documentation

void tgSubject< JSONCPGControl >::attach ( tgObserver< JSONCPGControl > *  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
std::vector< double > JSONGoalControl::getGoalFeedback ( const BaseSpineModelGoal *  subject)
protected

should this be configurable?

Definition at line 420 of file JSONGoalControl.cpp.

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void tgSubject< JSONCPGControl >::notifySetup ( )
inherited

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

void tgSubject< JSONCPGControl >::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< JSONCPGControl >::notifyTeardown ( )
inherited

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

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 JSONGoalControl::onSetup ( BaseSpineModelLearning &  subject)
virtual

Notify the observers when a setup action has occurred.

Parameters
[in,out]subjectthe subject being observed

Reimplemented from JSONCPGControl.

Reimplemented in OctahedralGoalControl, OctahedralTensionControl, JSONGoalTensionNNW, and JSONGoalTension.

Definition at line 117 of file JSONGoalControl.cpp.

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void JSONGoalControl::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)
Todo:
add to config
Todo:
if bogus, stop trial (reset simulation)

Reimplemented from JSONCPGControl.

Reimplemented in OctahedralGoalControl, OctahedralTensionControl, JSONGoalTensionNNW, and JSONGoalTension.

Definition at line 186 of file JSONGoalControl.cpp.

void JSONGoalControl::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
Todo:
  • consolidate with other controller classes.
Todo:
  • return length scale as a parameter

Reimplemented from JSONCPGControl.

Reimplemented in OctahedralGoalControl, OctahedralTensionControl, JSONGoalTensionNNW, and JSONGoalTension.

Definition at line 244 of file JSONGoalControl.cpp.

array_4D JSONCPGControl::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

Todo:
consider adding exception here

Reimplemented in JSONQuadFeedbackControl.

Definition at line 390 of file JSONCPGControl.cpp.

Member Data Documentation

neuralNetwork* JSONGoalControl::nn
protected
Todo:
generalize this if we need more than one

Definition at line 137 of file JSONGoalControl.h.

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