#include <KinematicSpineCPGControl.h>

Inheritance diagram for KinematicSpineCPGControl:

Collaboration diagram for KinematicSpineCPGControl:

Public Member Functions
	KinematicSpineCPGControl (BaseSpineCPGControl::Config config, std::string args, std::string resourcePath="", std::string ec="edgeConfig.ini", std::string nc="nodeConfig.ini")

virtual void	onStep (BaseSpineModelLearning &subject, double dt)

virtual void	onSetup (BaseSpineModelLearning &subject)

virtual void	onTeardown (BaseSpineModelLearning &subject)

const double	getCPGValue (std::size_t i) const

double	getScore () const

virtual void	onAttach (BaseSpineModelLearning &subject)

void	attach (tgObserver< BaseSpineCPGControl > *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_4D	scaleEdgeActions (std::vector< std::vector< double > > actions)

virtual array_2D	scaleNodeActions (std::vector< std::vector< double > > actions)

Protected Attributes
CPGEquations *	m_pCPGSys

std::vector < tgCPGActuatorControl * >	m_allControllers

BaseSpineCPGControl::Config	m_config

std::string	edgeConfigFilename

std::string	nodeConfigFilename

configuration	nodeConfigData

configuration	edgeConfigData

AnnealEvolution	edgeEvolution

AnnealEvolution	nodeEvolution

AnnealAdapter	edgeAdapter

AnnealAdapter	nodeAdapter

bool	nodeLearning

bool	edgeLearning

std::vector< double >	initConditions

std::size_t	segments

tgDataObserver	m_dataObserver

double	m_updateTime

std::vector< double >	scores

bool	bogus

Detailed Description

KinematicSpineCPGControl 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 40 of file KinematicSpineCPGControl.h.

Constructor & Destructor Documentation

KinematicSpineCPGControl::KinematicSpineCPGControl	(	BaseSpineCPGControl::Config	config,
		std::string	args,
		std::string	resourcePath = `""`,
		std::string	ec = `"edgeConfig.ini"`,
		std::string	nc = `"nodeConfig.ini"`
	)

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 57 of file KinematicSpineCPGControl.cpp.

Member Function Documentation

void tgSubject< BaseSpineCPGControl >::attach ( tgObserver< BaseSpineCPGControl > * 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< BaseSpineCPGControl >::notifySetup ( )

inherited

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

void tgSubject< BaseSpineCPGControl >::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< BaseSpineCPGControl >::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.

void BaseSpineCPGControl::onSetup ( BaseSpineModelLearning & subject )

virtualinherited

Notify the observers when a setup action has occurred.

Parameters

[in,out] subject the subject being observed

Reimplemented from tgObserver< BaseSpineModelLearning >.

Reimplemented in SpineGoalControl, SpineOnlineControl, SpineFeedbackControl, OctaCLSine, and LearningSpineSine.

Definition at line 175 of file BaseSpineCPGControl.cpp.

void BaseSpineCPGControl::onStep	(	BaseSpineModelLearning &	subject,
		double	dt
	)

virtualinherited

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)

Implements tgObserver< BaseSpineModelLearning >.

Reimplemented in SpineGoalControl, SpineOnlineControl, SpineFeedbackControl, OctaCLSine, and LearningSpineSine.

Definition at line 253 of file BaseSpineCPGControl.cpp.

void BaseSpineCPGControl::onTeardown ( BaseSpineModelLearning & subject )

virtualinherited

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 tgObserver< BaseSpineModelLearning >.

Reimplemented in SpineGoalControl, SpineOnlineControl, SpineFeedbackControl, OctaCLSine, and LearningSpineSine.

Definition at line 281 of file BaseSpineCPGControl.cpp.

array_4D BaseSpineCPGControl::scaleEdgeActions ( std::vector< std::vector< double > > actions )

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

Definition at line 364 of file BaseSpineCPGControl.cpp.

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

protectedvirtual

Todo:: : redo with for_each

Reimplemented from BaseSpineCPGControl.

Definition at line 68 of file KinematicSpineCPGControl.cpp.

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Member Data Documentation

AnnealAdapter BaseSpineCPGControl::edgeAdapter

protectedinherited

Handles getting parameters from and returning scores to the evolution object. Needs to persist throughout a simulation

Definition at line 175 of file BaseSpineCPGControl.h.

std::string BaseSpineCPGControl::edgeConfigFilename

protectedinherited

Hold the filename that gets passed to the respective configuration objects Having two of each of these allows for different groups of parameters to be specified

Definition at line 154 of file BaseSpineCPGControl.h.

AnnealEvolution BaseSpineCPGControl::edgeEvolution

protectedinherited

The object that holds all of the data for the evolution run in vectors of populations. Needs to persist throughout a simulation

Definition at line 168 of file BaseSpineCPGControl.h.

configuration BaseSpineCPGControl::nodeConfigData

protectedinherited

A file input/output system that uses .ini files. The object converts a string to data in the filename that it has been passed.

Definition at line 161 of file BaseSpineCPGControl.h.

bool BaseSpineCPGControl::nodeLearning

protectedinherited

A booelan that indicates whether the respective group is learning this run. Is passed to the evolution adapter

Definition at line 181 of file BaseSpineCPGControl.h.

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

examples/learningSpines/KinematicSpineCPGControl.h
examples/learningSpines/KinematicSpineCPGControl.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation