SpineGoalControl Class Reference

#include <SpineGoalControl.h>

Inheritance diagram for SpineGoalControl:

Collaboration diagram for SpineGoalControl:

Classes
struct	Config

Public Member Functions
	SpineGoalControl (SpineGoalControl::Config config, std::string args, std::string resourcePath="", std::string ec="edgeConfig.ini", std::string nc="nodeConfig.ini", std::string fc="feedbackConfig.ini", std::string gc="goalConfig.ini")
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< 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_2D	scaleNodeActions (std::vector< std::vector< double > > actions)
std::vector< double >	getFeedback (BaseSpineModelLearning &subject)
std::vector< double >	getGoalFeedback (const BaseSpineModelGoal *subject)
void	setGoalTensions (const BaseSpineModelGoal *subject, btVector3 &desiredHeading)
std::vector< double >	getCableState (const tgSpringCableActuator &cable)
std::vector< double >	transformFeedbackActions (std::vector< std::vector< double > > &actions, configuration &configData)
double	calculateDistanceMoved (const BaseSpineModelGoal *subject) const
virtual array_4D	scaleEdgeActions (std::vector< std::vector< double > > actions)

Protected Attributes
SpineGoalControl::Config	m_config
std::string	feedbackConfigFilename
NeuroEvolution	feedbackEvolution
NeuroAdapter	feedbackAdapter
bool	feedbackLearning
configuration	feedbackConfigData
std::string	goalConfigFilename
NeuroEvolution	goalEvolution
NeuroAdapter	goalAdapter
bool	goalLearning
configuration	goalConfigData
CPGEquations *	m_pCPGSys
std::vector < tgCPGActuatorControl * >	m_allControllers
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

SpineGoalControl 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 49 of file SpineGoalControl.h.

Constructor & Destructor Documentation

SpineGoalControl::SpineGoalControl	(	SpineGoalControl::Config	config,
		std::string	args,
		std::string	resourcePath = "",
		std::string	ec = "edgeConfig.ini",
		std::string	nc = "nodeConfig.ini",
		std::string	fc = "feedbackConfig.ini",
		std::string	gc = "goalConfig.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 98 of file SpineGoalControl.cpp.

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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 SpineGoalControl::onSetup ( BaseSpineModelLearning &  subject )

virtual

Notify the observers when a setup action has occurred.

Parameters

[in,out]

subject

the subject being observed

Reimplemented from BaseSpineCPGControl.

Reimplemented in SpineOnlineControl.

Definition at line 135 of file SpineGoalControl.cpp.

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void SpineGoalControl::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 BaseSpineCPGControl.

Reimplemented in SpineOnlineControl.

Definition at line 178 of file SpineGoalControl.cpp.

void SpineGoalControl::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 BaseSpineCPGControl.

Reimplemented in SpineOnlineControl.

Definition at line 227 of file SpineGoalControl.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.

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.

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

• dev/btietz/TC_goal/SpineGoalControl.h
• dev/btietz/TC_goal/SpineGoalControl.cpp