JSONMGFeedbackControlFM0 Class Reference

#include <JSONMGFeedbackControlFM0.h>

Inheritance diagram for JSONMGFeedbackControlFM0:

Collaboration diagram for JSONMGFeedbackControlFM0:

Classes
struct	Config

Public Member Functions
	JSONMGFeedbackControlFM0 (JSONMGFeedbackControlFM0::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 nodeActions, array_4D edgeActions)
virtual array_2D	scaleNodeActions (Json::Value actions)
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)

Protected Attributes
JSONMGFeedbackControlFM0::Config	m_config
std::vector < tgCPGActuatorControl * >	m_spineControllers
neuralNetwork *	nn
double	m_totalTime
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
std::vector< double >	metrics
bool	bogus
std::string	controlFilename
std::string	controlFilePath

Detailed Description

JSONFeedbackControl learns the parameters for a CPG system on a spine like tensegrity structure specified as a BaseQuadModelLearning. 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 47 of file JSONMGFeedbackControlFM0.h.

Constructor & Destructor Documentation

JSONMGFeedbackControlFM0::JSONMGFeedbackControlFM0	(	JSONMGFeedbackControlFM0::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 105 of file JSONMGFeedbackControlFM0.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 JSONMGFeedbackControlFM0::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 120 of file JSONMGFeedbackControlFM0.cpp.

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void JSONMGFeedbackControlFM0::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 182 of file JSONMGFeedbackControlFM0.cpp.

void JSONMGFeedbackControlFM0::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 246 of file JSONMGFeedbackControlFM0.cpp.

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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

Todo:

consider adding exception here

Definition at line 389 of file JSONQuadCPGControl.cpp.

Member Data Documentation

neuralNetwork* JSONMGFeedbackControlFM0::nn

protected

Todo:

generalize this if we need more than one

Definition at line 130 of file JSONMGFeedbackControlFM0.h.

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

• dev/dhustigschultz/MG_FewerMuscles0/JSONMGFeedbackControlFM0.h
• dev/dhustigschultz/MG_FewerMuscles0/JSONMGFeedbackControlFM0.cpp