#include <SuperBallLearningController.h>

Inheritance diagram for SuperBallPrefLengthController:

Collaboration diagram for SuperBallPrefLengthController:

Public Member Functions
	SuperBallPrefLengthController (const double prefLength=5)

virtual	~SuperBallPrefLengthController ()

virtual void	onSetup (SuperBallModel &subject)

virtual void	onStep (SuperBallModel &subject, double dt)

virtual void	onTeardown (SuperBallModel &subject)

	SuperBallPrefLengthController (const double prefLength=5)

virtual	~SuperBallPrefLengthController ()

virtual void	onSetup (T12SuperBallPayload &subject)

virtual void	onStep (T12SuperBallPayload &subject, double dt)

virtual void	onAttach (T12SuperBallPayload &subject)

virtual void	onTeardown (T12SuperBallPayload &subject)

virtual void	onAttach (SuperBallModel &subject)

Protected Member Functions
vector< vector< double > >	receiveActionsFromEvolution ()

virtual vector< vector< double > >	transformActions (vector< vector< double > > act)

virtual void	applyActions (SuperBallModel &subject, vector< vector< double > > act, vector< double > state)

double	calculateDistanceMoved ()

virtual vector< vector< double > >	transformActions (vector< vector< double > > act)

virtual void	applyActions (T12SuperBallPayload &subject, vector< vector< double > > act)

Detailed Description

Preferred Length Controller for T6. This controllers sets a preferred rest length for the muscles. Constant speed motors are used in muscles to move the rest length to the preffered length over time. The assumption here is that motors are constant speed independent of the tension of the muscles. motorspeed and movemotors are defined at the tgBasicActuator class.

Definition at line 48 of file SuperBallLearningController.h.

Constructor & Destructor Documentation

SuperBallPrefLengthController::SuperBallPrefLengthController ( const double prefLength = 5 )

Construct a T6PrefLengthController with the initial preferred length.

Definition at line 41 of file SuperBallLearningController.cpp.

virtual SuperBallPrefLengthController::~SuperBallPrefLengthController ( )

inlinevirtual

Nothing to delete, destructor must be virtual

Definition at line 63 of file SuperBallLearningController.h.

SuperBallPrefLengthController::SuperBallPrefLengthController ( const double prefLength = 5 )

Construct a T6PrefLengthController with the initial preferred length.

virtual SuperBallPrefLengthController::~SuperBallPrefLengthController ( )

inlinevirtual

Nothing to delete, destructor must be virtual

Definition at line 62 of file T12SuperBallPayloadController.h.

Member Function Documentation

virtual void tgObserver< T12SuperBallPayload >::onAttach ( T12SuperBallPayload & 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 tgObserver< SuperBallModel >::onAttach ( SuperBallModel & 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 SuperBallPrefLengthController::onSetup ( T12SuperBallPayload & subject )

virtual

Notify the observers when a setup action has occurred.

Parameters

[in,out] subject the subject being observed

Reimplemented from tgObserver< T12SuperBallPayload >.

Definition at line 48 of file T12SuperBallPayloadController.cpp.

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void SuperBallPrefLengthController::onSetup ( SuperBallModel & subject )

virtual

Notify the observers when a setup action has occurred.

Parameters

[in,out] subject the subject being observed

Reimplemented from tgObserver< SuperBallModel >.

Definition at line 51 of file SuperBallLearningController.cpp.

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void SuperBallPrefLengthController::onStep	(	T12SuperBallPayload &	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

Implements tgObserver< T12SuperBallPayload >.

Definition at line 59 of file T12SuperBallPayloadController.cpp.

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void SuperBallPrefLengthController::onStep	(	SuperBallModel &	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

Implements tgObserver< SuperBallModel >.

Definition at line 86 of file SuperBallLearningController.cpp.

virtual void tgObserver< T12SuperBallPayload >::onTeardown ( T12SuperBallPayload & subject )

inlinevirtualinherited

Notify the observers when a teardown action has occurred.

Parameters

[in,out] subject the subject being observed

Definition at line 67 of file tgObserver.h.

void SuperBallPrefLengthController::onTeardown ( SuperBallModel & subject )

virtual

Notify the observers when a teardown action has occurred.

Parameters

[in,out] subject the subject being observed

Reimplemented from tgObserver< SuperBallModel >.

Definition at line 350 of file SuperBallLearningController.cpp.

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

dev/atil/SuperBallLearningController.h
dev/steve/T12SuperBallPayload/T12SuperBallPayloadController.h
dev/atil/SuperBallLearningController.cpp
dev/steve/T12SuperBallPayload/T12SuperBallPayloadController.cpp

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation