#include <JSONQuadFeedbackControl.h>

Inherits JSONCPGControl, JSONCPGControl, and JSONCPGControl.

Collaboration diagram for JSONQuadFeedbackControl:

Classes
struct	Config

Public Member Functions
	JSONQuadFeedbackControl (JSONQuadFeedbackControl::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)

	JSONQuadFeedbackControl (JSONQuadFeedbackControl::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)

	JSONQuadFeedbackControl (JSONQuadFeedbackControl::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 void	setupHighCPGs (array_2D nodeActions, array_4D highEdgeActions, Json::Value highLowEdgeActions)

virtual array_4D	scaleEdgeActions (Json::Value edgeParam)

virtual array_2D	scaleNodeActions (Json::Value actions)

virtual array_4D	scaleHighEdgeActions (Json::Value highEdgeParam)

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

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

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

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

virtual array_2D	scaleNodeActions (Json::Value actions)

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

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

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

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

virtual array_2D	scaleNodeActions (Json::Value actions)

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

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

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

Protected Attributes
JSONQuadFeedbackControl::Config	m_config

std::vector < tgCPGActuatorControl * >	m_controllers [9]

std::vector < tgCPGActuatorControl * >	m_highControllers

neuralNetwork *	nn

int	n_bodyParts

int	n_muscSpine

int	n_muscHip

int	n_muscLeg

double	P

double	D

std::vector < tgCPGActuatorControl * >	m_spineControllers

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

JSONFeedbackControl 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 46 of file JSONQuadFeedbackControl.h.

Constructor & Destructor Documentation

JSONQuadFeedbackControl::JSONQuadFeedbackControl	(	JSONQuadFeedbackControl::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 119 of file JSONQuadFeedbackControl.cpp.

Member Function Documentation

void tgSubject< JSONCPGControl >::attach ( tgObserver< JSONCPGControl > * 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< 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] dt the 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] subject the subject being observed

Definition at line 55 of file tgObserver.h.

virtual void JSONQuadFeedbackControl::onSetup ( BaseSpineModelLearning & subject )

virtual

Notify the observers when a setup action has occurred.

Parameters

[in,out] subject the subject being observed

Reimplemented from JSONCPGControl.

virtual void JSONQuadFeedbackControl::onSetup ( BaseSpineModelLearning & subject )

virtual

Notify the observers when a setup action has occurred.

Parameters

[in,out] subject the subject being observed

Reimplemented from JSONCPGControl.

void JSONQuadFeedbackControl::onSetup ( BaseSpineModelLearning & subject )

virtual

Notify the observers when a setup action has occurred.

Parameters

[in,out] subject the subject being observed

Reimplemented from JSONCPGControl.

Definition at line 134 of file JSONQuadFeedbackControl.cpp.

virtual void JSONQuadFeedbackControl::onStep	(	BaseSpineModelLearning &	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

Todo:: add to config

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

Reimplemented from JSONCPGControl.

virtual void JSONQuadFeedbackControl::onStep	(	BaseSpineModelLearning &	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

Reimplemented from JSONCPGControl.

void JSONQuadFeedbackControl::onStep	(	BaseSpineModelLearning &	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)

Reimplemented from JSONCPGControl.

Definition at line 217 of file JSONQuadFeedbackControl.cpp.

virtual void JSONQuadFeedbackControl::onTeardown ( BaseSpineModelLearning & subject )

virtual

Notify the observers when a teardown action has occurred.

Parameters

[in,out] subject the subject being observed

Reimplemented from JSONCPGControl.

virtual void JSONQuadFeedbackControl::onTeardown ( BaseSpineModelLearning & 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

Reimplemented from JSONCPGControl.

void JSONQuadFeedbackControl::onTeardown ( BaseSpineModelLearning & 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

Reimplemented from JSONCPGControl.

Definition at line 260 of file JSONQuadFeedbackControl.cpp.

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

protectedvirtual

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

Todo:: consider adding exception here

Reimplemented from JSONCPGControl.

Definition at line 595 of file JSONQuadFeedbackControl.cpp.

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array_4D JSONQuadFeedbackControl::scaleHighEdgeActions ( Json::Value highEdgeParam )

protectedvirtual

Todo:: consider adding exception here

Definition at line 706 of file JSONQuadFeedbackControl.cpp.

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Member Data Documentation

neuralNetwork * JSONQuadFeedbackControl::nn

protected

Todo:: generalize this if we need more than one

Todo:: generalize this if we need more than one

Todo:: generalize this if we need more than one

Definition at line 144 of file JSONQuadFeedbackControl.h.

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

dev/bgigous/MG_FirstAttempt/JSONQuadFeedbackControl.h
dev/bgigous/MG_FirstAttempt/JSONQuadFeedbackControl.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation